)

 INPUTS 1 - Finds the closest rotation matrix to a given matrix M
  M       - 3x3 matrix

 INPUTS 2 - Extract the axis and the angle of a 3x3 rotation matrix
  R       - 3x3 Rotation matrix

 INPUTS 3 - Creates a 2x2 rotation matrix from an angle
  theta   - angle of rotation (radians)

 INPUTS 4 - Creates a 3x3 rotation matrix from a rotation vector
  u       - 1x3 or 3x1 axis of rotation - norm is theta

 INPUTS 5 - Creates a 3x3 rotation matrix from a rotation vector
  u       - axis of