Changed per comments from gaschler. Removed Triad and replaced with Triple. Changed points to P, Q, R. Added a helper function getVector() to simplify extracting the P, Q, R vectors.
Changed per comments from gaschler.
Removed Triad and replaced with Triple.
Changed points to P, Q, R.
Added a helper function getVector() to simplify extracting the P, Q, R vectors.

gaschler/rotationconverter