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Rotate vector by quaternion

[1] Stevens, Brian L., Frank L. Lewis.
*Aircraft Control and Simulation*, 2nd Edition. Hoboken, NJ: John Wiley
& Sons, 2003.

[2] Diebel, James. "Representing Attitude: Euler Angles, Unit Quaternions, and Rotation Vectors." Stanford University, Stanford, California, 2006.

`quatconj`

| `quatinv`

| `quatmod`

| `quatmultiply`

| `quatnorm`

| `quatnormalize`