      | y'  |  =  |  rotate  |   | y  |
                | z'  |     |          |   | z  |
                 -   -       -        -     -  -</PRE>
<h4><a name="Parameters">Parameters</a></h4>
<PRE>
   None.
</PRE>
<h4><a name="Exceptions">Exceptions</a></h4>
<PRE>
   1)  If sufficient information has not been supplied via loaded
       SPICE kernels to compute the transformation between the
       two frames, the error will be diagnosed by a routine
       in the call tree to this routine.

   2)  If either f