{"group":{"id":1,"name":"Community","lockable":false,"created_at":"2012-01-18T18:02:15.000Z","updated_at":"2025-12-14T01:33:56.000Z","description":"Problems submitted by members of the MATLAB Central community.","is_default":true,"created_by":161519,"badge_id":null,"featured":false,"trending":false,"solution_count_in_trending_period":0,"trending_last_calculated":"2025-12-14T00:00:00.000Z","image_id":null,"published":true,"community_created":false,"status_id":2,"is_default_group_for_player":false,"deleted_by":null,"deleted_at":null,"restored_by":null,"restored_at":null,"description_opc":null,"description_html":null,"published_at":null},"problems":[{"id":55495,"title":"Quaternions to Rotation Matrices","description":"Given a matrix of Quaternions (along the rows), output a 3D matrix of Rotation Matrices.","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(0, 0, 0); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none solid rgb(0, 0, 0); white-space: normal; \"\u003e\u003cdiv style=\"block-size: 21px; display: block; min-width: 0px; padding-block-start: 0px; padding-top: 0px; perspective-origin: 407px 10.5px; transform-origin: 407px 10.5px; vertical-align: baseline; \"\u003e\u003cdiv style=\"font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; perspective-origin: 384px 10.5px; text-align: left; transform-origin: 384px 10.5px; white-space: pre-wrap; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; margin-right: 10px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; \"\u003e\u003cspan style=\"\"\u003eGiven a matrix of Quaternions (along the rows), output a 3D matrix of Rotation Matrices.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function R = quatern2rotMat(q)\r\nR=q(1:3,1:3);\r\nend","test_suite":"%%\r\nq=[0.233789992228363   0.608486743646436   0.036621005001739  -0.757459585940452\r\n   0.738353083328897  -0.418974886835612   0.084658297089274  -0.521658644396641\r\n  -0.541112207172982   0.526405914797824  -0.383609863800027  -0.531919039431355\r\n   0.368053959635857  -0.162368722058901   0.874003139445851   0.272564108297704\r\n   0.920068794179537   0.080984647798414   0.380038110069424   0.049859158565309\r\n                   0  -0.912138002288740  -0.160646677024274  -0.377090055479810\r\n   0.241210738108848  -0.657656911412505   0.701202210357314   0.132741202655267\r\n  -0.362951992343130  -0.403389871861503  -0.108607074860025  -0.832914741029393\r\n   0.666756727518742  -0.149091390612843  -0.724728763310394   0.089305336818205\r\n   0.830580729723206   0.067920563562847  -0.245584323986707  -0.495187629358574];\r\nR=quatern2rotMat(q);\r\nr=[0.09701,0.93959,-0.32826];\r\nassert(isequal(round(R(2,:,9),5),r));\r\n%%\r\nq=[-0.040665732622207  -0.875437365178827   0.299381494607710   0.377261763932559\r\n   0.361095410358156  -0.372059124455234  -0.827148179910051  -0.216813286030561\r\n   0.347159281963079  -0.262889775534746   0.895079581184728  -0.095926754413682\r\n  -0.228771335292672  -0.632364576352407   0.671414066369286  -0.311419123055263\r\n  -0.206175976679240   0.465537688632980  -0.261102428105062  -0.820116850906177\r\n  -0.356685076165327   0.610204796235231  -0.095385385797254  -0.700947566704360\r\n  -0.566231359541844   0.065413290004787  -0.533866442027257   0.624571670058211\r\n   0.626617388687605   0.025896781730706   0.777027468240805  -0.053928828001397\r\n  -0.396693684218383  -0.285743927848268  -0.073190748842447  -0.869268452713528\r\n  -0.335269356575525  -0.039853478930039   0.491059602952345  -0.803035880335924];\r\nR=quatern2rotMat(q);\r\nr=[-0.65592,0.62023,0.43020];\r\nassert(isequal(round(R(3,:,5),5),r));\r\n%%\r\nq=[-0.072599564521322  -0.168564367853157  -0.430926157878854   0.883525892986362\r\n  -0.366076030376573   0.406735616678294  -0.680765081007770   0.486942894587796\r\n   0.195675144856721   0.153443448653014   0.939619022848070   0.235122176012408\r\n   0.744140368929090  -0.129882812454846  -0.241163294398500   0.609283047354643\r\n   0.327767938335861   0.809087969963526   0.202315322502099  -0.443861854342353\r\n  -0.006954589312567   0.174531050615318  -0.688389599388039   0.703995955608398\r\n   0.585627481428429  -0.229750622694652   0.235956742107507   0.740661542285831\r\n   0.964609164866193  -0.105517638021544  -0.019413676047932  -0.240869874215947\r\n   0.125094258843076   0.410985014465720   0.158649081212270   0.888973122945579\r\n   0.336470824049632  -0.361515678629348  -0.757737107943003  -0.426530507601387\r\n  -0.632835573888538   0.542620456642467   0.352461096036679   0.425268564832751\r\n   0.592895462434679   0.686368155830424   0.404113164466774   0.118601330477196\r\n   0.923371436146533  -0.368785531210248   0.082005247483251  -0.068246335168084\r\n  -0.074148352784488  -0.265956613798687  -0.941695517755233   0.192298344235686\r\n   0.303593323801287   0.427099407392794  -0.065879656686927   0.849162564402614\r\n   0.784126638685861  -0.308730289390020  -0.259042751019204  -0.471940542929690\r\n  -0.126311856660848  -0.320357856247185  -0.929022549498904   0.135400374187645\r\n  -0.071221812986975   0.808420413483576   0.210008440084629   0.545234209776966\r\n  -0.131279051101766   0.099085746981469  -0.110771502115156  -0.980141571307991\r\n   0.175091207865921  -0.876687349285308   0.396507416633754   0.208672540324738\r\n  -0.290258791083299  -0.257747991801682   0.064390307729534  -0.919331112924803\r\n  -0.673427133255053   0.512949854245896   0.146777190102406   0.511697957481401\r\n  -0.591375480650211   0.796403508299757   0.047194520953765   0.117427296850076\r\n  -0.049164502780807  -0.232442836079072   0.934791145452622  -0.264042977572228\r\n  -0.023254889545295   0.663489660894400   0.553997343609418  -0.502322230517601\r\n   0.106582746944575  -0.577703786692814   0.798798613606913   0.129688965583838\r\n   0.837080837511607  -0.357372773538429   0.045655963742589   0.411698803956307\r\n  -0.291945335620168   0.402829787607107  -0.714003109085494  -0.492641495859096\r\n   0.673036531912724   0.153766394687833  -0.266794821516704   0.672456872808561\r\n   0.711562938533548   0.474326737775380   0.289584966280815  -0.429921943660716\r\n  -0.305280557752189  -0.347212145947235   0.020259447697488  -0.886474512630916\r\n   0.576465945579707  -0.196226229485976  -0.791060292865201   0.058360033418709\r\n   0.677291031599895  -0.210016415831013  -0.678443244137797   0.192053971788209\r\n   0.252415190968904  -0.764832832105849   0.495991065687911  -0.324515289406908\r\n   0.456796167801151  -0.165464715255576  -0.839507009731368   0.243283106070833\r\n   0.043062309771959   0.224806241784945   0.960190045187521  -0.160133907260204\r\n   0.631576658321702  -0.130952033565775   0.719874627563414  -0.256403997938053\r\n   0.710256510820776  -0.003341003891282  -0.529431118409073  -0.463925874887155\r\n  -0.200755703620755  -0.323295674344280   0.893067547239591   0.240015438006543\r\n   0.340511506867919   0.271728590617371  -0.806594647268570  -0.399525420629685\r\n   0.905256554655646  -0.295361265364174  -0.073023520266298   0.296546553956341\r\n  -0.552520483240247  -0.581171021102100   0.074432854715950  -0.592807818748995\r\n   0.929866628314598   0.356600238160233  -0.047991953095558   0.076688305033955\r\n   0.868786256723931  -0.316742590709563   0.358416388992644   0.128149379474454\r\n   0.488677843933064  -0.075046693314856  -0.744607552969094  -0.448465774315961\r\n   0.500961015859233   0.216657919179926   0.563432107397387   0.620194862119680\r\n   0.625713471039084  -0.606405788782029   0.085096066349330  -0.483232170890698\r\n   0.315582572488617  -0.178292526181935   0.814708717260475  -0.452624702230139\r\n   0.963148069830532   0.061530947030479   0.257688281448009   0.046437998919260\r\n  -0.289706686030612  -0.069700239503831  -0.921592875340585   0.248753863897111\r\n  -0.056949287366025   0.340382890883995  -0.229728514630898  -0.910011580051285\r\n   0.473105592206066  -0.192570507374529   0.781681682605861   0.357856738641783\r\n   0.806388532260463  -0.575247106914081  -0.136843904310941  -0.010101825514914\r\n   0.533781249935490  -0.697212593501261   0.457266270290054  -0.140995513175333\r\n   0.384454216755180   0.191550408421795   0.300556580803387  -0.851568633750904\r\n   0.810041428251462   0.409609243741789  -0.404695038671470  -0.110792949379949\r\n  -0.553914641613697   0.546977665863254  -0.144102004295892  -0.610924394021602\r\n  -0.271350221178658  -0.868466705129096  -0.138876237787270  -0.390957836763198\r\n  -0.101498261497623   0.569360175501679  -0.811155911507649  -0.086909036882549\r\n   0.172969649989992   0.034768174515155  -0.959981584632213   0.217504095111445\r\n  -0.507114107090474  -0.196801431572128  -0.747388061911801  -0.381465023079066\r\n   0.049373690140165  -0.701230918417506  -0.689446759579477   0.174644219722963\r\n  -0.078014030174510   0.519677816937623  -0.304675638757213  -0.794368637867056\r\n   0.628617781991088  -0.019716091083684   0.570168052990872   0.528544559394554\r\n  -0.004617646191458  -0.189965643017137   0.815159328732559   0.547180957816535\r\n   0.849819033477472  -0.476572246181247   0.191592006920673  -0.118232852428103\r\n   0.189328856119557  -0.478930542960228  -0.456557197323861   0.725489934342346\r\n  -0.522502905888538  -0.034118773081644   0.427267311565882  -0.737068020693274\r\n  -0.369184878929451   0.814218507590764   0.447912353688176  -0.011192429585899\r\n   0.427229391379802  -0.159153599060569   0.383666089615419   0.803084995954055\r\n   0.719229771922256   0.570318111214167  -0.075498346722839   0.389545615870444\r\n  -0.227153432060950   0.213640921016513   0.936029948600403   0.163115941873488\r\n   0.980452350900251  -0.187872771893463   0.058012681708286  -0.007178994097419\r\n  -0.243006960820423   0.161307404003389  -0.579218289473472   0.761205433208365\r\n  -0.735817026364321   0.148660495499618  -0.392575375443645  -0.531373630683210\r\n  -0.568231370903665  -0.545442359537443  -0.010821254322295  -0.616026494558523\r\n   0.170992823926032  -0.265636552100125   0.905596832601442   0.283007160927765\r\n   0.885229185665032  -0.210063335977146  -0.230778999191883  -0.344940193739394\r\n   0.539752287123575   0.412882107710139  -0.557321567439049  -0.477062369240108\r\n   0.460847280368537  -0.671964434990038  -0.500535844057924   0.292484958756281\r\n  -0.334516482936081   0.044635972138698   0.938819452917303  -0.068734179702416\r\n   0.861362748640178   0.415713532756587   0.280377215241240   0.081394662672950\r\n  -0.081574171470154   0.044966207048425  -0.677914727774705  -0.729215548818580\r\n   0.939268919760778  -0.091325445516074   0.318649703402689  -0.088859022581220\r\n   0.396632792520789  -0.273920839534547  -0.854384324147518   0.194106229206689\r\n  -0.048735337670363   0.609990360417154   0.568412526537649   0.549948931024865\r\n   0.669687666208215   0.515417574593006   0.049592729076661   0.532356755148263\r\n   0.093168587513229   0.385920528761650  -0.904875993110915   0.153572122706737\r\n  -0.068912723599799   0.099659454295867   0.343951977421076  -0.931136975382054\r\n   0.391964795317423   0.639983569159924   0.584266657376288   0.308896590326656\r\n   0.272840201024409   0.063173535734219  -0.848056151193829   0.449853413358294\r\n  -0.549150731983513   0.038220378617600   0.497441977340675   0.670465625815149\r\n   0.675122124434091   0.671682010743116   0.222493030956652  -0.208686953879265\r\n  -0.193084748481893  -0.103268312628790   0.540186043724481  -0.812559520081931\r\n  -0.584090051810928  -0.502996752749375   0.219890145706745  -0.597897484457124\r\n   0.923560251820898  -0.217809364094157   0.288412451234599   0.128116353922003\r\n  -0.332779570034842   0.511880253928273   0.766267917668862   0.200174528242680\r\n   0.918335298818358  -0.354833541566893  -0.099740019719595  -0.144240650267626];\r\nR=quatern2rotMat(q);\r\nr=[-0.078540000000000   0.089600000000000   0.039410000000000\r\n  -0.049300000000000   0.177540000000000  -0.046290000000000\r\n   0.034080000000000   0.066300000000000   0.041080000000000];\r\nassert(isequal(round(mean(R,3),5),r));\r\n","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":145982,"edited_by":null,"edited_at":null,"deleted_by":null,"deleted_at":null,"solvers_count":4,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2022-09-05T15:22:19.000Z","updated_at":"2022-09-05T15:22:19.000Z","published_at":"2022-09-05T15:22:19.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven a matrix of Quaternions (along the rows), output a 3D matrix of Rotation Matrices.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"}],"problem_search":{"errors":[],"problems":[{"id":55495,"title":"Quaternions to Rotation Matrices","description":"Given a matrix of Quaternions (along the rows), output a 3D matrix of Rotation Matrices.","description_html":"\u003cdiv style = \"text-align: start; line-height: 20.44px; min-height: 0px; white-space: normal; color: rgb(0, 0, 0); font-family: Menlo, Monaco, Consolas, monospace; font-style: normal; font-size: 14px; font-weight: 400; text-decoration: none solid rgb(0, 0, 0); white-space: normal; \"\u003e\u003cdiv style=\"block-size: 21px; display: block; min-width: 0px; padding-block-start: 0px; padding-top: 0px; perspective-origin: 407px 10.5px; transform-origin: 407px 10.5px; vertical-align: baseline; \"\u003e\u003cdiv style=\"font-family: Helvetica, Arial, sans-serif; line-height: 21px; margin-block-end: 9px; margin-block-start: 2px; margin-bottom: 9px; margin-inline-end: 10px; margin-inline-start: 4px; margin-left: 4px; margin-right: 10px; margin-top: 2px; perspective-origin: 384px 10.5px; text-align: left; transform-origin: 384px 10.5px; white-space: pre-wrap; margin-left: 4px; margin-top: 2px; margin-bottom: 9px; margin-right: 10px; \"\u003e\u003cspan style=\"block-size: auto; display: inline; margin-block-end: 0px; margin-block-start: 0px; margin-bottom: 0px; margin-inline-end: 0px; margin-inline-start: 0px; margin-left: 0px; margin-right: 0px; margin-top: 0px; perspective-origin: 0px 0px; transform-origin: 0px 0px; \"\u003e\u003cspan style=\"\"\u003eGiven a matrix of Quaternions (along the rows), output a 3D matrix of Rotation Matrices.\u003c/span\u003e\u003c/span\u003e\u003c/div\u003e\u003c/div\u003e\u003c/div\u003e","function_template":"function R = quatern2rotMat(q)\r\nR=q(1:3,1:3);\r\nend","test_suite":"%%\r\nq=[0.233789992228363   0.608486743646436   0.036621005001739  -0.757459585940452\r\n   0.738353083328897  -0.418974886835612   0.084658297089274  -0.521658644396641\r\n  -0.541112207172982   0.526405914797824  -0.383609863800027  -0.531919039431355\r\n   0.368053959635857  -0.162368722058901   0.874003139445851   0.272564108297704\r\n   0.920068794179537   0.080984647798414   0.380038110069424   0.049859158565309\r\n                   0  -0.912138002288740  -0.160646677024274  -0.377090055479810\r\n   0.241210738108848  -0.657656911412505   0.701202210357314   0.132741202655267\r\n  -0.362951992343130  -0.403389871861503  -0.108607074860025  -0.832914741029393\r\n   0.666756727518742  -0.149091390612843  -0.724728763310394   0.089305336818205\r\n   0.830580729723206   0.067920563562847  -0.245584323986707  -0.495187629358574];\r\nR=quatern2rotMat(q);\r\nr=[0.09701,0.93959,-0.32826];\r\nassert(isequal(round(R(2,:,9),5),r));\r\n%%\r\nq=[-0.040665732622207  -0.875437365178827   0.299381494607710   0.377261763932559\r\n   0.361095410358156  -0.372059124455234  -0.827148179910051  -0.216813286030561\r\n   0.347159281963079  -0.262889775534746   0.895079581184728  -0.095926754413682\r\n  -0.228771335292672  -0.632364576352407   0.671414066369286  -0.311419123055263\r\n  -0.206175976679240   0.465537688632980  -0.261102428105062  -0.820116850906177\r\n  -0.356685076165327   0.610204796235231  -0.095385385797254  -0.700947566704360\r\n  -0.566231359541844   0.065413290004787  -0.533866442027257   0.624571670058211\r\n   0.626617388687605   0.025896781730706   0.777027468240805  -0.053928828001397\r\n  -0.396693684218383  -0.285743927848268  -0.073190748842447  -0.869268452713528\r\n  -0.335269356575525  -0.039853478930039   0.491059602952345  -0.803035880335924];\r\nR=quatern2rotMat(q);\r\nr=[-0.65592,0.62023,0.43020];\r\nassert(isequal(round(R(3,:,5),5),r));\r\n%%\r\nq=[-0.072599564521322  -0.168564367853157  -0.430926157878854   0.883525892986362\r\n  -0.366076030376573   0.406735616678294  -0.680765081007770   0.486942894587796\r\n   0.195675144856721   0.153443448653014   0.939619022848070   0.235122176012408\r\n   0.744140368929090  -0.129882812454846  -0.241163294398500   0.609283047354643\r\n   0.327767938335861   0.809087969963526   0.202315322502099  -0.443861854342353\r\n  -0.006954589312567   0.174531050615318  -0.688389599388039   0.703995955608398\r\n   0.585627481428429  -0.229750622694652   0.235956742107507   0.740661542285831\r\n   0.964609164866193  -0.105517638021544  -0.019413676047932  -0.240869874215947\r\n   0.125094258843076   0.410985014465720   0.158649081212270   0.888973122945579\r\n   0.336470824049632  -0.361515678629348  -0.757737107943003  -0.426530507601387\r\n  -0.632835573888538   0.542620456642467   0.352461096036679   0.425268564832751\r\n   0.592895462434679   0.686368155830424   0.404113164466774   0.118601330477196\r\n   0.923371436146533  -0.368785531210248   0.082005247483251  -0.068246335168084\r\n  -0.074148352784488  -0.265956613798687  -0.941695517755233   0.192298344235686\r\n   0.303593323801287   0.427099407392794  -0.065879656686927   0.849162564402614\r\n   0.784126638685861  -0.308730289390020  -0.259042751019204  -0.471940542929690\r\n  -0.126311856660848  -0.320357856247185  -0.929022549498904   0.135400374187645\r\n  -0.071221812986975   0.808420413483576   0.210008440084629   0.545234209776966\r\n  -0.131279051101766   0.099085746981469  -0.110771502115156  -0.980141571307991\r\n   0.175091207865921  -0.876687349285308   0.396507416633754   0.208672540324738\r\n  -0.290258791083299  -0.257747991801682   0.064390307729534  -0.919331112924803\r\n  -0.673427133255053   0.512949854245896   0.146777190102406   0.511697957481401\r\n  -0.591375480650211   0.796403508299757   0.047194520953765   0.117427296850076\r\n  -0.049164502780807  -0.232442836079072   0.934791145452622  -0.264042977572228\r\n  -0.023254889545295   0.663489660894400   0.553997343609418  -0.502322230517601\r\n   0.106582746944575  -0.577703786692814   0.798798613606913   0.129688965583838\r\n   0.837080837511607  -0.357372773538429   0.045655963742589   0.411698803956307\r\n  -0.291945335620168   0.402829787607107  -0.714003109085494  -0.492641495859096\r\n   0.673036531912724   0.153766394687833  -0.266794821516704   0.672456872808561\r\n   0.711562938533548   0.474326737775380   0.289584966280815  -0.429921943660716\r\n  -0.305280557752189  -0.347212145947235   0.020259447697488  -0.886474512630916\r\n   0.576465945579707  -0.196226229485976  -0.791060292865201   0.058360033418709\r\n   0.677291031599895  -0.210016415831013  -0.678443244137797   0.192053971788209\r\n   0.252415190968904  -0.764832832105849   0.495991065687911  -0.324515289406908\r\n   0.456796167801151  -0.165464715255576  -0.839507009731368   0.243283106070833\r\n   0.043062309771959   0.224806241784945   0.960190045187521  -0.160133907260204\r\n   0.631576658321702  -0.130952033565775   0.719874627563414  -0.256403997938053\r\n   0.710256510820776  -0.003341003891282  -0.529431118409073  -0.463925874887155\r\n  -0.200755703620755  -0.323295674344280   0.893067547239591   0.240015438006543\r\n   0.340511506867919   0.271728590617371  -0.806594647268570  -0.399525420629685\r\n   0.905256554655646  -0.295361265364174  -0.073023520266298   0.296546553956341\r\n  -0.552520483240247  -0.581171021102100   0.074432854715950  -0.592807818748995\r\n   0.929866628314598   0.356600238160233  -0.047991953095558   0.076688305033955\r\n   0.868786256723931  -0.316742590709563   0.358416388992644   0.128149379474454\r\n   0.488677843933064  -0.075046693314856  -0.744607552969094  -0.448465774315961\r\n   0.500961015859233   0.216657919179926   0.563432107397387   0.620194862119680\r\n   0.625713471039084  -0.606405788782029   0.085096066349330  -0.483232170890698\r\n   0.315582572488617  -0.178292526181935   0.814708717260475  -0.452624702230139\r\n   0.963148069830532   0.061530947030479   0.257688281448009   0.046437998919260\r\n  -0.289706686030612  -0.069700239503831  -0.921592875340585   0.248753863897111\r\n  -0.056949287366025   0.340382890883995  -0.229728514630898  -0.910011580051285\r\n   0.473105592206066  -0.192570507374529   0.781681682605861   0.357856738641783\r\n   0.806388532260463  -0.575247106914081  -0.136843904310941  -0.010101825514914\r\n   0.533781249935490  -0.697212593501261   0.457266270290054  -0.140995513175333\r\n   0.384454216755180   0.191550408421795   0.300556580803387  -0.851568633750904\r\n   0.810041428251462   0.409609243741789  -0.404695038671470  -0.110792949379949\r\n  -0.553914641613697   0.546977665863254  -0.144102004295892  -0.610924394021602\r\n  -0.271350221178658  -0.868466705129096  -0.138876237787270  -0.390957836763198\r\n  -0.101498261497623   0.569360175501679  -0.811155911507649  -0.086909036882549\r\n   0.172969649989992   0.034768174515155  -0.959981584632213   0.217504095111445\r\n  -0.507114107090474  -0.196801431572128  -0.747388061911801  -0.381465023079066\r\n   0.049373690140165  -0.701230918417506  -0.689446759579477   0.174644219722963\r\n  -0.078014030174510   0.519677816937623  -0.304675638757213  -0.794368637867056\r\n   0.628617781991088  -0.019716091083684   0.570168052990872   0.528544559394554\r\n  -0.004617646191458  -0.189965643017137   0.815159328732559   0.547180957816535\r\n   0.849819033477472  -0.476572246181247   0.191592006920673  -0.118232852428103\r\n   0.189328856119557  -0.478930542960228  -0.456557197323861   0.725489934342346\r\n  -0.522502905888538  -0.034118773081644   0.427267311565882  -0.737068020693274\r\n  -0.369184878929451   0.814218507590764   0.447912353688176  -0.011192429585899\r\n   0.427229391379802  -0.159153599060569   0.383666089615419   0.803084995954055\r\n   0.719229771922256   0.570318111214167  -0.075498346722839   0.389545615870444\r\n  -0.227153432060950   0.213640921016513   0.936029948600403   0.163115941873488\r\n   0.980452350900251  -0.187872771893463   0.058012681708286  -0.007178994097419\r\n  -0.243006960820423   0.161307404003389  -0.579218289473472   0.761205433208365\r\n  -0.735817026364321   0.148660495499618  -0.392575375443645  -0.531373630683210\r\n  -0.568231370903665  -0.545442359537443  -0.010821254322295  -0.616026494558523\r\n   0.170992823926032  -0.265636552100125   0.905596832601442   0.283007160927765\r\n   0.885229185665032  -0.210063335977146  -0.230778999191883  -0.344940193739394\r\n   0.539752287123575   0.412882107710139  -0.557321567439049  -0.477062369240108\r\n   0.460847280368537  -0.671964434990038  -0.500535844057924   0.292484958756281\r\n  -0.334516482936081   0.044635972138698   0.938819452917303  -0.068734179702416\r\n   0.861362748640178   0.415713532756587   0.280377215241240   0.081394662672950\r\n  -0.081574171470154   0.044966207048425  -0.677914727774705  -0.729215548818580\r\n   0.939268919760778  -0.091325445516074   0.318649703402689  -0.088859022581220\r\n   0.396632792520789  -0.273920839534547  -0.854384324147518   0.194106229206689\r\n  -0.048735337670363   0.609990360417154   0.568412526537649   0.549948931024865\r\n   0.669687666208215   0.515417574593006   0.049592729076661   0.532356755148263\r\n   0.093168587513229   0.385920528761650  -0.904875993110915   0.153572122706737\r\n  -0.068912723599799   0.099659454295867   0.343951977421076  -0.931136975382054\r\n   0.391964795317423   0.639983569159924   0.584266657376288   0.308896590326656\r\n   0.272840201024409   0.063173535734219  -0.848056151193829   0.449853413358294\r\n  -0.549150731983513   0.038220378617600   0.497441977340675   0.670465625815149\r\n   0.675122124434091   0.671682010743116   0.222493030956652  -0.208686953879265\r\n  -0.193084748481893  -0.103268312628790   0.540186043724481  -0.812559520081931\r\n  -0.584090051810928  -0.502996752749375   0.219890145706745  -0.597897484457124\r\n   0.923560251820898  -0.217809364094157   0.288412451234599   0.128116353922003\r\n  -0.332779570034842   0.511880253928273   0.766267917668862   0.200174528242680\r\n   0.918335298818358  -0.354833541566893  -0.099740019719595  -0.144240650267626];\r\nR=quatern2rotMat(q);\r\nr=[-0.078540000000000   0.089600000000000   0.039410000000000\r\n  -0.049300000000000   0.177540000000000  -0.046290000000000\r\n   0.034080000000000   0.066300000000000   0.041080000000000];\r\nassert(isequal(round(mean(R,3),5),r));\r\n","published":true,"deleted":false,"likes_count":0,"comments_count":0,"created_by":145982,"edited_by":null,"edited_at":null,"deleted_by":null,"deleted_at":null,"solvers_count":4,"test_suite_updated_at":null,"rescore_all_solutions":false,"group_id":1,"created_at":"2022-09-05T15:22:19.000Z","updated_at":"2022-09-05T15:22:19.000Z","published_at":"2022-09-05T15:22:19.000Z","restored_at":null,"restored_by":null,"spam":null,"simulink":false,"admin_reviewed":false,"description_opc":"{\"parts\":[{\"partUri\":\"/matlab/document.xml\",\"contentType\":\"application/vnd.mathworks.matlab.code.document+xml\",\"content\":\"\u003c?xml version=\\\"1.0\\\" encoding=\\\"UTF-8\\\"?\u003e\u003cw:document xmlns:w=\\\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\\\"\u003e\u003cw:body\u003e\u003cw:p\u003e\u003cw:pPr\u003e\u003cw:pStyle w:val=\\\"text\\\"/\u003e\u003cw:jc w:val=\\\"left\\\"/\u003e\u003c/w:pPr\u003e\u003cw:r\u003e\u003cw:t\u003eGiven a matrix of Quaternions (along the rows), output a 3D matrix of Rotation Matrices.\u003c/w:t\u003e\u003c/w:r\u003e\u003c/w:p\u003e\u003c/w:body\u003e\u003c/w:document\u003e\",\"relationship\":null}],\"relationships\":[{\"relationshipType\":\"http://schemas.mathworks.com/matlab/code/2013/relationships/document\",\"target\":\"/matlab/document.xml\",\"relationshipId\":\"rId1\"}]}"}],"term":"tag:\"quaternions\"","current_player_id":null,"fields":[{"name":"page","type":"integer","callback":null,"default":1,"directive":null,"facet":null,"facet_method":"and","operator":null,"param":null,"static":null,"prepend":true},{"name":"per_page","type":"integer","callback":null,"default":50,"directive":null,"facet":null,"facet_method":"and","operator":null,"param":null,"static":null,"prepend":true},{"name":"sort","type":"string","callback":null,"default":null,"directive":null,"facet":null,"facet_method":"and","operator":null,"param":null,"static":null,"prepend":true},{"name":"body","type":"text","callback":null,"default":"*:*","directive":null,"facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":false},{"name":"group","type":"string","callback":null,"default":null,"directive":"group","facet":true,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"difficulty_rating_bin","type":"string","callback":null,"default":null,"directive":"difficulty_rating_bin","facet":true,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"id","type":"integer","callback":null,"default":null,"directive":"id","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"tag","type":"string","callback":null,"default":null,"directive":"tag","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"product","type":"string","callback":null,"default":null,"directive":"product","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"created_at","type":"timeframe","callback":{},"default":null,"directive":"created_at","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"profile_id","type":"integer","callback":null,"default":null,"directive":"author_id","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"created_by","type":"string","callback":null,"default":null,"directive":"author","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"player_id","type":"integer","callback":null,"default":null,"directive":"solver_id","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"player","type":"string","callback":null,"default":null,"directive":"solver","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"solvers_count","type":"integer","callback":null,"default":null,"directive":"solvers_count","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"comments_count","type":"integer","callback":null,"default":null,"directive":"comments_count","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"likes_count","type":"integer","callback":null,"default":null,"directive":"likes_count","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"leader_id","type":"integer","callback":null,"default":null,"directive":"leader_id","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true},{"name":"leading_solution","type":"integer","callback":null,"default":null,"directive":"leading_solution","facet":null,"facet_method":"and","operator":null,"param":"term","static":null,"prepend":true}],"filters":[{"name":"asset_type","type":"string","callback":null,"default":null,"directive":null,"facet":null,"facet_method":"and","operator":null,"param":null,"static":"\"cody:problem\"","prepend":true},{"name":"profile_id","type":"integer","callback":{},"default":null,"directive":null,"facet":null,"facet_method":"and","operator":null,"param":"author_id","static":null,"prepend":true}],"query":{"params":{"per_page":50,"term":"tag:\"quaternions\"","current_player":null,"sort":"map(difficulty_value,0,0,999) 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