docs: def dcmdottoang_vel(R,Rdot):
      """Convert a rotation matrix to angular velocity
          
          w - angular velocity in inertial frame
          Omega - angular velocity in body frame
      """
      w = vee_map(Rdot.dot(R.T))
      Omega = vee_map(R.T.dot(Rdot))
  
      return (w, Omega)