It returns an unsigned unite quaternion in *S^3* (the four-dimensional sphere) from a *3 \times 3*
rotation matrix on SO(3).

1 | ```
rot2quat(X)
``` |

`X` |
A rotation matrix in SO(3). |

Firstly construct a system of linear equations by equating the corresponding components of the theoretical rotation matrix proposed by Prentice (1986), and given a rotation matrix. Finally, the system of linear equations are solved by following the tricks mentioned in second reference here in order to achieve numerical accuracy to get quaternion values.

A unsigned unite quaternion.

Anamul Sajib

R implementation and documentation: Anamul Sajib <pmxahsa@nottingham.ac.uk>

Prentice,M. J. (1986). Orientation statistics without parametric assumptions.Journal of the Royal Statistical Society. Series B: Methodological 48(2). //http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm

```
quat2rot, rotation, Arotation \ link{rot.matrix}
```

1 2 3 4 5 6 |

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