recover_rotation3D

PURPOSE

Takes a rotation matrix and extracts the rotation angle and axis.

SYNOPSIS

function [u,theta] = recover_rotation3D( R )

DESCRIPTION

 Takes a rotation matrix and extracts the rotation angle and axis.

 INPUTS
   R       - 3x3 Rotation matrix

 OUTPUTS
   u       - axis of rotation
   theta   - angle of rotation (radians)

 EXAMPLE
   R = rotation_matrix3D( [0 0 1], pi/4 );
   [u,theta]  = recover_rotation3D( R )

 DATESTAMP
   29-Sep-2005  2:00pm

 See also ROTATION_MATRIX3D

CROSS-REFERENCE INFORMATION

This function calls:

rotation_matrix3D Uses Rodrigues's formula to create a 3x3 rotation matrix R.

This function is called by: