$3.$ a$)$ Write a similar function, which converts a rotation matrix to Unit Quaternions

Q$=\{\}.$ Use the following format for your code:

function Rot$2$UQuater$($RotMatrix$)$

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Your Code

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display results $[$Eta $($scalar$)$ and Esp $($vector$)]$

Hint: Be careful when using the MATLAB sign$($x$)$ function for this question. In

particular, what should the value of sign$(0)$ be$?(-1,0,$ or $1)$

b$)$ Provide the results for the above rotation matrices Rot$4,$ Rot$5,$ and Rot$6.$