anchor.diff:       for par = (format nil "abs + 7*~A" parent-name)
        do
          (if parent-name
  -           (format stream "~&    aa_tf_qutr_mul( ~A, ~A, ~A );"
  -                   par rel abs)
  +           (progn
  +             (format stream "~&    aa_tf_qutr_mul( ~A, ~A, ~A );"
  +                     par rel abs)
  +             (when normalize
  +               (format stream "~&    aa_tf_qnormalize( ~A );"
  +                       abs)))
              (format stream "~&    memcpy( ~A, ~A, 7*sizeof(abs[0]) );"
                      abs rel)))
     (format stream "~&}"))
  
positive.code:   (format stream "~&}"))
  
  
  (defun emit-abs-fun (name frames &key (stream t))
    (format stream "~&void ~A~&( const double * restrict rel, double * restrict abs ) ~&{~&" name)
    (loop
       for f in frames
  
negative.code:                           frame-max
                            configuration-max
                            dot-file
                            normalize
                            (relative-function "rel_tf")
                            (absolute-function "abs_tf")
                            (parents-array "parents"))
  