code: def transformTimeDependentVector(quat, vec, inverse=0):
      
      qInv = quatInv(quat)
      if inverse:
          return transformTimeDependentVector(qInv, vec, inverse=0)
  
      return multiplyQuats(quat, multiplyQuats(np.append(np.array([
              np.zeros(len(vec[0]))]), vec, 0), qInv))[1:]
docs: Given (for example) a minimal rotation frame quat, transforms
      vec from the minimal rotation frame to the inertial frame.
      With inverse=1, transforms from the inertial frame to the minimal
      rotation frame.