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_MotionTensor(RotTen,Pos,MotTen,flag)
  
     REAL(BDKi),     INTENT(IN   ):: RotTen(:,:)
     REAL(BDKi),     INTENT(IN   ):: Pos(:)
     REAL(BDKi),     INTENT(  OUT):: MotTen(:,:)
     INTEGER(IntKi), INTENT(IN   ):: flag            ! 0: Motion Tensor;
                                                     ! 1: Inverse of Motion Tensor
  
  
negative.code: !-----------------------------------------------------------------------------------------------------------------------------------
  SUBROUTINE BD_CrvMatrixH(cc,Hh)
  
     REAL(BDKi),INTENT(IN) ::cc(3)
     REAL(BDKi),INTENT(OUT)::Hh(3,3)
  
     REAL(BDKi):: cf1,cf2,cf3,cq,ocq,aa,cb0,cb1,cb2,cb3
  
  