quat_shiftmat Subroutine

public subroutine quat_shiftmat(q, forward, shiftmat)

Returns the shifter matrix corresponding to a unit quaternion.

Arguments

Type	Intent	Optional	Attributes		Name
real(kind=rp),	intent(in),		dimension(4)	::	q	Unit quaternion.
logical,	intent(in)			::	forward	Whether to shift forward, i.e., along the orientation or shift reverse.
real(kind=rp),	intent(out),		dimension(3,3)	::	shiftmat	Shifter matrix.