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   Convert from stability axes to wind axes.
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   Form:
   b = SToW( beta, opt )
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   ------
   Inputs
   ------
   beta        (1,1) Sideslip angle (rad)
   opt         (1,:) 'matrix' or 'quaternion'

   -------
   Outputs
   -------
   b           (3,3) Transformation matrix
               (4,1) Quaternion

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