function R = convertQuatToRot(q)
    % Convert a Quaternion to Rotation matrix

    % normalize q
    q = q ./ sqrt(sum(q.^2));

    qahat(1, 2) = -q(4);
    qahat(1, 3) = q(3);
    qahat(2, 3) = -q(2);
    qahat(2, 1) = q(4);
    qahat(3, 1) = -q(3);
    qahat(3, 2) = q(2);

    R = eye(3) + 2 * qahat * qahat + 2 * q(1) * qahat;
end
