QTForm:

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   Transforms a vector opposite 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.

   Since version 1.
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   Form:
   ub = QTForm( q, ua )
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   Inputs
   ------
   q              (4,n or 1)  quaternion from a to b
   ua             (3,n or 1)  vector in b

   -------
   Outputs
   -------
   ub             (3,n)       vector in a

   See also QForm.

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