function q = axisAngle2quatern(axis, angle)
    q0 = cos(angle./2);
    q1 = -axis(:,1)*sin(angle./2);
    q2 = -axis(:,2)*sin(angle./2);
    q3 = -axis(:,3)*sin(angle./2); 
    q = [q0 q1 q2 q3];
end