# tr2angvec

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.

## Options

'deg' | Return angle in degrees |

## Notes

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

## See also

angvec2r, angvec2tr

Robotics Toolbox for MATLAB © 1990-2014 Peter Corke.