anchor.diff:  ! the rotation matrix
   !--------------------------------------------------
   
  -   REAL(BDKi),    INTENT(IN   ):: Rr(:,:)       ! Rotation Matrix
  -   REAL(BDKi),    INTENT(  OUT):: cc(:)         ! Crv paramteres
  +   REAL(BDKi),    INTENT(IN   ):: Rr(3,3)       ! Rotation Matrix
  +   REAL(BDKi),    INTENT(  OUT):: cc(3)         ! Crv paramteres
      INTEGER(IntKi),INTENT(  OUT):: ErrStat       ! Error status of the operation
      CHARACTER(*),  INTENT(  OUT):: ErrMsg        ! Error message if ErrStat /= ErrID_None
   
  
positive.code: !-----------------------------------------------------------------------------------------------------------------------------------
  SUBROUTINE BD_CrvMatrixH(cc,Hh)
  
     REAL(BDKi),INTENT(IN) ::cc(:)
     REAL(BDKi),INTENT(OUT)::Hh(:,:)
  
     REAL(BDKi):: cf1,cf2,cf3,cq,ocq,aa,cb0,cb1,cb2,cb3
  
  
negative.code: !   flag = 3: R(rr) = R(T) (pp) R(T) (qq)
  !************************************************************************************************************
  
     REAL(BDKi),    INTENT(IN   ):: pp(3)     ! Input rotation 1
     REAL(BDKi),    INTENT(IN   ):: qq(3)     ! Input rotation 2
     INTEGER       ,INTENT(IN   ):: flag      ! Option flag
     REAL(BDKi),    INTENT(  OUT):: rr(3)     ! Composed rotation
     INTEGER(IntKi),INTENT(  OUT):: ErrStat   ! Error status of the operation
     CHARACTER(*),  INTENT(  OUT):: ErrMsg    ! Error message if ErrStat /= ErrID_None
  
  