function [Q] = InverseRR(TIP)
x4 = TIP(1);
y4 = TIP(2);

a = y4;
b = x4;
r = sqrt(b^2 + a^2);
qa = atan2(a, b);

qb = atan(sqrt(1 - (r/2)^2) / (r/2) );

q1 = qa + qb;
q2 = -2*qb;

Q = [q1; q2];
end