You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: rot3dfit.m
    path of file: ./repos/brainstorm3/external/other
    
    the code of the file until where you have to start completion: function [R,T,Yf,Err] = rot3dfit(X,Y)

    
function [R,T,Yf,Err] = rot3dfit(X,Y)
%ROT3DFIT Determine least-square rigid rotation and translation.
% [R,T,Yf] = ROT3DFIT(X,Y) permforms a least-square fit for the
% linear form
%
% Y = X*R + T
%
% where R is a 3 x 3 orthogonal rotation matrix, T is a 1 x 3
% translation vector, and X and Y are 3D points sets defined as
% N x 3 matrices. Yf is the best-fit matrix.
%
% See also SVD, NORM.
%
% rot3dfit: Frank Evans, NHLBI/NIH, 30 November 2001
%

% ROT3DFIT uses the method described by K. S. Arun, T. S. Huang, and
% S. D. Blostein, "Least-Squares Fitting of Two 3-D Point Sets",
% IEEE Transactions on Pattern Analysis and Machine Intelligence,
% PAMI-9(5): 698 - 700, 1987.
%
% A better theoretical development is found in B. K. P. Horn,
% H. M. Hilden, and S. Negahdaripour, "Closed-form solution of
% absolute orientation using orthonormal matrices", Journal of the
% Optical Society of America A, 5(7): 1127 - 1135, 1988.
%
% Special cases, e.g. colinear and coplanar points, are not implemented.

% error(nargchk(2,2,nargin));
if size(X,2) ~= 3, error('X must be N x 3'); end