to_angle_axis Subroutine

public pure subroutine to_angle_axis(r, angle, axis)

Extracts the equivalent rotation angle and axis of rotation given a 3-by-3 rotation matrix.

Arguments

Type	Intent	Optional	Attributes		Name
real(kind=real64),	intent(in)			::	r(3,3)	The 3-by-3 rotation matrix.
real(kind=real64),	intent(out)			::	angle	The rotation angle.
real(kind=real64),	intent(out)			::	axis(3)	The axis of rotation.

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