def quaternion_to_rotation_matrix(quaternion):
c, x, y, z = quaternion<EOL>return np.array([<EOL>[c*c + x*x - y*y - z*z, <NUM_LIT:2>*x*y - <NUM_LIT:2>*c*z,         <NUM_LIT:2>*x*z + <NUM_LIT:2>*c*y        ],<EOL>[<NUM_LIT:2>*x*y + <NUM_LIT:2>*c*z,         c*c - x*x + y*y - z*z, <NUM_LIT:2>*y*z - <NUM_LIT:2>*c*x        ],<EOL>[<NUM_LIT:2>*x*z - <NUM_LIT:2>*c*y,         <NUM_LIT:2>*y*z + <NUM_LIT:2>*c*x,         c*c - x*x - y*y + z*z]<EOL>], float)<EOL>
Compute the rotation matrix representated by the quaternion