Convert rotation matrix to angle-vector form
[theta,v] = tr2angvec(R, options) is rotation expressed in terms of an angle theta (1x1) about the axis v (1x3) equivalent to the orthonormal rotation matrix R (3x3).
[theta,v] = tr2angvec(T, options) as above but uses the rotational part of the homogeneous transform T (4x4).
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.
|'deg'||Return angle in degrees|
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