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   Calculates the required torque for the fast reorientation system slew maneuver.
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   Form:
   [tFRS, xmodel, uMnvrF, uMnvr, xF]
   = FRSTorque( aF, bF, cF, dF, xF, tBBScale, uMnvr, nHalf, rate, iner, i )
------------------------------------------------------------------------

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   Inputs
   ------
   aF            (n,n)   The shaping filter plant matrix
   bF            (n,1)   The shaping filter input matrix
   cF            (1,n)   The shaping filter measurement matrix
   dF            (1,1)   The shaping filter feedthrough matrix
   xF            (n,1)   The shaping filter state
   tBBScale      (1,1)   Converts acceleration to torque
   uMnvr         (1,1)   Sign of the maneuver
   nHalf         (1,1)   Half the number of control periods in the maneuver 
   rate          (3,1)   The body rate
   iner          (3,3)   The inertia matrix
   i             (1,1)   The maneuver step

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   Outputs
   -------
   tFRS          (3,1)   frs torque
   uMnvrF        (1,1)   Mneuver acceleration command output of filter
   uMnvr         (1,1)   Sign of the maneuver
   xF            (n,1)   The shaping filter state

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