code: def quaternion_to_rotation_matrix(quaternion):
      
      c, x, y, z = quaternion
      return np.array([
          [c*c + x*x - y*y - z*z, 2*x*y - 2*c*z,         2*x*z + 2*c*y        ],
          [2*x*y + 2*c*z,         c*c - x*x + y*y - z*z, 2*y*z - 2*c*x        ],
          [2*x*z - 2*c*y,         2*y*z + 2*c*x,         c*c - x*x - y*y + z*z]
      ], float)
docs: Compute the rotation matrix representated by the quaternion