C+
C NAME:
C	quaternion_inverse
C PURPOSE:
C	Get inverse quaternion
C CATEGORY:
C	ucsd/gen/for/lib
C CALLING SEQUENCE:
	subroutine quaternion_inverse(q1,q)
C INPUTS:
C	q1(4)	double precision	quaternion
C OUTPUTS:
C	q(4)	double precision	inverse quaternion
C MODIFICATION HISTORY:
C	NOV-2004, Paul Hick (UCSD/CASS; pphick@ucsd.edu)
C-
	    double precision	q1(4)
	    double precision	q (4)

	q(1) = -q1(1)
	q(2) = -q1(2)
	q(3) = -q1(3)
	q(4) =  q1(4)

	return
	end