anchor.diff:           (:fixed (emit-fixed-frame frame stream "e"))
            (otherwise (error "Unknown type of frame ~A" (frame-name frame)))))
     (format stream "~&}"))
  +
  +(defun emit-fixed-frames (frames &key (stream t))
  +  (loop
  +     for frame in frames
  +     when (eq :fixed (frame-type frame))
  +     do
  +       (format stream "~&/* Fixed Frame: ~A */" (frame-name frame))
  +       (format stream "~&static const double fixed_~A[7] = {~&    ~{~A~^, ~},~&    ~{~A~^, ~}~&};"
  +               (frame-name frame)
  +               (map 'list #'float-string (frame-quaternion frame))
  +               (map 'list #'float-string (frame-translation frame)))))
   
   (defun frame-fun-decl (name &key (stream t))
     (format stream "~&void ~A( ~A )"
  
positive.code:     (format f "~&/* AUTOGENERATED BY REFLEX FRAME GENERATOR */")
      (format f "~{~&#include <~A>~}" (list "amino.h" "reflex.h" header-file))
      (format f "~{~&#include \"~A\"~}" headers)
      (emit-rel-fun relative-function frames :stream f :block-arrays block-arrays)
      (emit-parents-array parents-array frames :stream f)
      (emit-names-array frame-names-array frames :stream f)
  
negative.code:       f))
  
  (defun emit-fixed-frame (frame stream e)
    (let ((name (frame-name frame))
          (ptr (format nil "~A+ldE*~A" e (frame-name frame))))
        (format stream "~&    memcpy(~A, fixed_~A, 7*sizeof(~A[0]));"
                ptr name e)))
  
  (defun emit-quat (stream ptr angle x y z)
    (let* ((n (sqrt (+ (* x x) (* y y) (* z z))))
  