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# tr2angvec

Convert rotation matrix to angle-vector form

[theta,v] = tr2angvec(R) converts an orthonormal rotation matrix R into a rotation of theta (1x1) about the axis v (1x3).

[theta,v] = tr2angvec(T) as above but uses the rotational part of the homogeneous transform T.

If R (3x3xK) or T (4x4xK) represent a sequence then theta (Kx1)is a vector of angles for corresponding elements of the sequence and v (Kx3) are the corresponding axes, one per row.

## Notes

- If no output arguments are specified the result is displayed.

## See also

angvec2r, angvec2tr

© 1990-2014 Peter Corke.