Write MATLAB scripts to perform the following tasks: (a) Given a rotation matrix RR33 find the corresponding attitude ( , ), with 0180, that parametrizes it. (b) Given an attitude ( ,a^), find the corresponding rotation matrix RR33. (c) Given a rotation matrix RR33, find the corresponding Euler angles (,,), with 180180,9090, and 0360 that parametrize it. (d) Given a set of Euler angles (,,), find the corresponding rotation matrix RR33. (e) Given a rotation matrix RR33, use Shepperd's method to find a corresponding quaternion vector ^=[0,1,2,3]T, that parametrizes it. (f) Given a quaternion vector ^=[0,1,2,3]T, find the corresponding rotation matrix RR33