anchor.diff:     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
  +   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)                    :: rotu_root(3)      !< Rotation parameters for root (\f$\underline{\hat{c}}^1 \f$)
      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'
   
   
  
positive.code: 
     q_root(:) = x%q(4:6,elem_start)              ! Rotation parameters for root
  
        ! Calculate the rotation parameters relative to the root for each node
     DO idx_node=1,p%nodes_per_elem
        q_temp(:) = x%q(4:6,elem_start-1+idx_node)    ! Adjust to location in array for current element
           ! Find resulting rotation parameters R(Nr) = Ri^T(x%q(1)) R(x%q(:))
           ! where R(x%q(1))^T is the transpose rotation parameters for the root node
  
negative.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$
           CALL BD_CrvCompose(rot_c_xi,q_root,rrr,FLAG_R1R2)  ! rot_c_xi = q_root composed with rrr
              ! Set the rotation parameters to return
           m%qp%uuu(4:6,idx_qp,nelem) = rot_c_xi(:)                                ! rotation parameters \f$\underline{c}(\xi)\f$
        
  