anchor.diff:           CALL BD_CrvMatrixH(rrr,temp33)         ! retrieve the tangent tensor given rrr
            cc = MATMUL(temp33,rrp)                ! \underline{k} in eq (5) http://www.nrel.gov/docs/fy14osti/60759.pdf
         
  -            !> Find the transpose of the DCM orientation matrix of the root as
  -            !! \f$ \underline{\underline{R}}\left(\underline{\hat{c}}^1\right)\f$
  -         CALL BD_CrvMatrixR(rotu_root,temp33)   ! returns temp33 (the transpose of the DCM orientation matrix)
  - 
               !> Assemble \f$\underline{kappa}\f$ by adding in the root rotation.
               !! This is \f$\underline{\kappa} = \underline{k} + \underline{\underline{R}}\underline{k}_i \f$
  -         m%qp%kappa(:,idx_qp,nelem) = MATMUL(temp33,cc)
  +         m%qp%kappa(:,idx_qp,nelem) = MATMUL(DCM_root,cc)
         
               !> ###Find the rotation tensor \f$ \left(\underline{\underline{R}}\underline{\underline{R}}_0\right) \f$
               !!
  
positive.code:             !! \f$  \underline{\underline{R}}\left(c^i\right)
              !!       =  \underline{\underline{R}}\left(\underline{\hat{c}}^1\right)
              !!          \underline{\underline{R}}\left(\underline{\underline{r}}^i\right) \f$
           rotu_root(:) = x%q(4:6,elem_start)                          ! rotation parameters for root \f$ \underline{\hat{c}}^1 \f$
           CALL BD_CrvCompose(rot_c_xi,rotu_root,rrr,FLAG_R1R2)  ! rot_c_xi = rotu_root composed with rrr
              ! Set the rotation parameters to return
           m%qp%uuu(4:6,idx_qp,nelem) = rot_c_xi(:)                                ! rotation parameters \f$\underline{c}(\xi)\f$
        
  
negative.code:    INTEGER(IntKi)                :: idx_qp            !< index to the current quadrature point
     INTEGER(IntKi)                :: elem_start        !< Node point of first node in current element
     INTEGER(IntKi)                :: idx_node          !< index to current GLL point in element
     REAL(BDKi)                    :: q_root(3)         !< Rotation parameters for root node (\f$\underline{\hat{c}}^1 \f$)
     REAL(BDKi)                    :: q_temp(3)         !< Temp array for the rotation parameters of the current node
     REAL(BDKi)                    :: Nr_temp(3)        !< Temp array for the resulting relative rotation
     REAL(BDKi)                    :: rrr(3)            !< relative rotation field \f$ \underline{r}(\xi) \f$
     REAL(BDKi)                    :: rrp(3)            !< relative prime rotation field \f$ \underline{r}^\prime(\xi) \f$
     REAL(BDKi)                    :: cc(3)
     REAL(BDKi)                    :: rot_c_xi(3)       !< Rotation parameters \f$\underline{c}(\xi)\f$
     REAL(BDKi)                    :: rot0_T0(3)        !< Initial rotation at T=0
     REAL(BDKi)                    :: temp33(3,3)
     REAL(BDKi)                    :: DCM_root(3,3)       !< DCM for first node
     CHARACTER(*), PARAMETER       :: RoutineName = 'BD_RotationalInterpQP'
  
  
  