axang = rotm2axang(rotm) converts
a rotation given as an orthonormal rotation matrix, rotm,
to the corresponding axis-angle representation, axang.
The input rotation matrix must be in the premultiply form for rotations.
Rotation matrix, specified as a 3-by-3-by-n matrix containing
n rotation matrices. Each rotation matrix has a size
of 3-by-3 and must be orthonormal. The input rotation matrix must be in the
premultiply form for rotations.
Note
Rotation matrices that are slightly non-orthonormal can give
complex outputs. Consider validating your matrix before inputting to
the function.
Rotation given in axis-angle form, returned as an n-by-4
matrix of n axis-angle rotations. The first three
elements of every row specify the rotation axis, and the last element
defines the rotation angle (in radians).
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