vectQrot performs a vector rotation by a quaternion.
Quaternion (Q) vector [q1, q2, q3, q4].
Vector [x, y, z].
Rotated vector [x, y, z].
Q <- c(-0.1677489, -0.7369231, -0.3682588, 0.5414703)
v <- c(1, 2, 3)
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