RotationalTransformation Methods 
The RotationalTransformation type exposes the following members.
Name  Description  

Compose(AngleAxisRotation, MotionUnitQuaternion, Cartesian, Int32) 
Forms a new rotational transformation as the composition of two transformations. The rotational rates of
the first transformation are assumed to be zero. If the first transformation represents the transformation
between axes "B" and axes "C" and the second transformation represents the
transformation between axes "A" and axes "B", the result represents the transformation
between axes "A" and axes "C".
 
Compose(ElementaryRotation, MotionUnitQuaternion, Cartesian, Int32) 
Forms a new rotational transformation as the composition of two transformations. The rotational rates of
the first transformation are assumed to be zero. If the first transformation represents the transformation
between axes "B" and axes "C" and the second transformation represents the
transformation between axes "A" and axes "B", the result represents the transformation
between axes "A" and axes "C".
 
Compose(MotionUnitQuaternion, Cartesian, AngleAxisRotation, Int32) 
Forms a new rotational transformation as the composition of two transformations. The rotational rates of
the second transformation are assumed to be zero. If the first transformation represents the transformation
between axes "B" and axes "C" and the second transformation represents the
transformation between axes "A" and axes "B", the result represents the transformation
between axes "A" and axes "C".
 
Compose(MotionUnitQuaternion, Cartesian, ElementaryRotation, Int32) 
Forms a new rotational transformation as the composition of two transformations. The rotational rates of
the second transformation are assumed to be zero. If the first transformation represents the transformation
between axes "B" and axes "C" and the second transformation represents the
transformation between axes "A" and axes "B", the result represents the transformation
between axes "A" and axes "C".
 
Compose(MotionUnitQuaternion, Cartesian, MotionUnitQuaternion, Cartesian, Int32) 
Forms a new rotational transformation as the composition of two transformations.
If the first transformation represents the transformation
between axes "B" and axes "C" and the second transformation represents the
transformation between axes "A" and axes "B", the result represents the transformation
between axes "A" and axes "C".
 
Invert 
Forms the inverse rotational transformation.
If this transformation represents the transformation between axes "A" and axes "B",
the result represents the transformation between axes "B" and axes "A".
 
Transform 
Transforms the vector observed in the A axes to the B axes.
