rotaxis_from_rotmat

pycraf.geometry.rotaxis_from_rotmat(R)

Cartesian rotation axis and angle from rotation matrix.

Parameters:

Rarray

Rotation matrix [no units!]

Returns:

rotax_{x,y,z}Quantity

Cartesian components (x, y, z) of rotation axis [m]

angleQuantity

Rotation angle [deg]

Notes

Broadcasting is supported. The returned rotation axis vector is normalized (otherwise it’s magnitude would change the effective rotation angle).