FieldRotation<Dfp> r1Prime = new FieldRotation<Dfp>(field.newDfp(r1.getQ0()),
field.newDfp(r1.getQ1()),
field.newDfp(r1.getQ2()),
field.newDfp(r1.getQ3()),
false);
double[] unit2 = g.nextVector();
FieldRotation<Dfp> r2 = new FieldRotation<Dfp>(createVector(unit2[0], unit2[1], unit2[2]),
createAngle(random.nextDouble()));
FieldRotation<Dfp> rA = FieldRotation.applyTo(r1, r2);
FieldRotation<Dfp> rB = r1Prime.applyTo(r2);