6. Prove that the Rotation Matrix R corresponding to quaternion q = (a, b, c, d) is given by 1. [2(a2 + 62) - 1 2(bc - ad) 2(bd + ac) R = 2(bc + ad) 2(a2 + c2) - 1 2(cd - ab) (1) 2(bd - ac) 2(cd + ab) 2(a2 + d?) - 1