void toQuat( angles_t &src, quat_t &dst ) { mat3_t temp;
void toQuat( mat3_t &src, quat_t &dst ) { float		trace; float		s; int     	i; int			j; int			k;
void toQuat( angles_t &src, quat_t &dst ) {	mat3_t temp;	toMatrix( src, temp );	toQuat( temp, dst );}