Cartesian angular veloctiies (Rate of change of Quaternion to Rate of change of Euler angle)

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Hello everyone

I have cartesian linear(x,y,z) and angular(qx,qy,qz,qw) velocities. I found 2 solutions either use joint values or joint velocities to move the manipulator.

1) Moveit have function setFromDiffIK to calculate the joint values from cartesian velocities but for this i need angular velocities in euler. how can I convert rate of change of Quaternion to rate of change of Euler angle? 2) How can I convert the cartesian velocity to joint velocity?

Thanks in advance..