The function w = rotparams (r) - Inverse to rotv(). Using, w = rotparams(r) is such that rotv(w)*r’ == eye(3).
If used as, [v,a]=rotparams(r) , idem, with v (1 x 3) s.t. w == a*v.
0 <= norm(w)==a <= pi
:-O !! Does not check if ’r’ is a rotation matrix.
Ignores matrices with zero rows or with NaNs. (returns 0 for them)
See also: rotv.
Package: linear-algebra