As discussed in [this PR comment](https://github.com/DeepBlueRobotics/DeepBlueSim/pull/102#discussion_r1671497127), this would reduce the amount of code we have to maintain at the expense of a less clear derivation.
As discussed in this PR comment, this would reduce the amount of code we have to maintain at the expense of a less clear derivation.