A numerical rotation matrix is given below, write your own MATLAB script to get the axis$-$angle and quaternion representations of this rotation. Use the analytical expression, instead of using rotm$2$axang directly.

$R=\left[\begin{array}{ccc}0\mathrm{.}3642& -0\mathrm{.}7799& 0\mathrm{.}5090\\ 0\mathrm{.}7017& -0\mathrm{.}1296& -0\mathrm{.}7006\\ 0\mathrm{.}6124& 0\mathrm{.}6124& 0\mathrm{.}5000\end{array}\right]$