Mat2Q:

Path: Common/Quaternion

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   Converts a transformation matrix to a quaternion.
   Does not check to see that m is orthonormal.

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   Form:
   q = Mat2Q ( m )		
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   ------
   Inputs
   ------
   m		(3,3)  Orthonormal transformation matrix

   -------
   Outputs
   -------
   q		(4,1)  Equivalent quaternion

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  References: Shepperd, S. W., Quaternion from Rotation Matrix,
              J. Guidance, Vol. 1, No. 3, May-June, 1978, pp. 223-224.
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