docs: def ang_veltoaxisangledot(angle, axis, Omega):
      """Compute kinematics for axis angle representation
  
      """
      angle_dot = axis.dot(Omega)
      axis_dot = 1/2*(hat_map(axis) - 1/np.tan(angle/2) * hat_map(axis).dot(hat_map(axis))).dot(Omega)
      return angle_dot, axis_dot