vrrotmat2vec - Convert rotation from matrix to axis-angle representation
Syntax
r = vrrotmat2vec(m)
r = vrrotmat2vec(m,options)
Description
r = vrrotmat2vec(m) returns
an axis-angle representation of rotation defined by the rotation matrix m.
r = vrrotmat2vec(m,options) converts
the rotation with the default algorithm parameters replaced by values
defined in options.
The options structure contains the parameter epsilon that
represents the value below which a number will be treated as zero
(default value is 1e-12).
The result r is a four-element axis-angle
rotation row vector. The first three elements specify the rotation
axis, and the last element defines the angle of rotation.
See Also
vrrotvec and vrrotvec2mat
 | vrrotvec | | vrrotvec2mat |  |
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