"""
This module contains quaternion and attitude utility functions
relating to solutions to what is known as Wahba's problem [0],
namely the problem of finding a rotation matrix which brings
one set of vectors into the best possible alignment with a
second set of vectors.

Reference:
[0] Wahba, Grace. 1965. Problems and Solutions: Problem 65--1.
    SIAM Review 7(3): 409.

"""

