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Convert rotation from matrix to axis-angle representation


r = vrrotmat2vec(m)
r = vrrotmat2vec(m,options)


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.

Introduced in R2007b

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