Adding Rotations to Our Quaternion Class We have developed a quaternion class in MATLAB to perform most of the basic arithmetic operations involving quaternions, and we would like to be able to expand this to include operations for handling 3D rotations. To do this, we would to add two methods to the quaternion class that allow us to compute these rotations. 1. obj = rotationquaternion(n, th) Will be a function that takes as its input a 3-vector n = [nx ny nz] that will serve as the axis of rotation and an angle th given in radians. This function will construct the rotation quaternion q according to the formula 9= COS + sin (*) (nzi+nyj + n_k). 2 Requirements: • This function should return obj , which is a member of the quaternion class. (This just means that you use the constructor like we have in other methods where we need to return a quaternion.) • The program needs to make sure that n is a unit vector. The easiest way to do this is to divide by norm(n) . (You don't need the 1 * that shows up in the example above. That's just there for plotting purposes.)