QForm:

--------------------------------------------------------------------------
   Transforms a vector in the direction of the quaternion. 

   If the number of columns of q is 1 it will transform all of the vectors
   by that q. If it is greater than 1 it will transform each column of ua
   by the corresponding column of q. If the number of columns of q is > 1
   and the number of columns of ua is 1 it will create one column of ub
   for every column of q. This routine takes 30 floating point operations.

   Since version 1.
--------------------------------------------------------------------------
   Form:
   ub = QForm( q, ua )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   q              (4,n or 1)  Quaternion from a to b
   ua             (3,n or 1)  Vector in a

   -------
   Outputs
   -------
   ub             (3,n)       Vector in b

--------------------------------------------------------------------------
   See also QTForm.
--------------------------------------------------------------------------