Tests

Refactor: eliminate quaternion derivative code duplication in u_dot_generalized_3dof #2869

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Run time

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Job	Run time
Pytest (windows-latest, 3.14)	7m 1s
Pytest (ubuntu-latest, 3.10)	7m 59s
Pytest (macos-latest, 3.14)	3m 40s
Pytest (macos-latest, 3.10)	3m 51s
Pytest (windows-latest, 3.10)	7m 44s
Pytest (ubuntu-latest, 3.14)	3m 44s
CodecovUpload	17s
	34m 16s