🚀 go-pugleaf

    Hi,
        This seems the idel group to ask this question.

        given: a frame F which is defined by three unit direction
               vectors relative to the world frame W.

               An expression for linear velocity dr/dt.

               An expression for angular velocity dtheta/dt.

        Required:
               An expression for the change of the orientation of
               the frame F relative to the frame W.

               ie. and expression for dF/dt.

        ANY clues, suggestions, references will be welcome and
        appreciated.

    Thanks in advance,
        Richard.
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