@spiceErrorCheck<EOL>def m2q(r):
r = stypes.toDoubleMatrix(r)<EOL>q = stypes.emptyDoubleVector(<NUM_LIT:4>)<EOL>libspice.m2q_c(r, q)<EOL>return stypes.cVectorToPython(q)<EOL>
Find a unit quaternion corresponding to a specified rotation matrix.

http://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/m2q_c.html

:param r: A rotation matrix to be factored
:type r: 3x3-Element Array of floats
:return: A unit quaternion representing the rotation matrix
:rtype: 4-Element Array of floats