ranslation component.

</p>
<p>
[<strong>theta</strong>,<strong>twist</strong>] = <span style="color:red">trlog</span>(<strong>T</strong>) as above but returns directly <strong>theta</strong> the rotation
angle and a <strong>twist</strong> vector (6x1) comprising [v <strong>w</strong>].

</p>
<h2>Notes</h2>
<ul>
  <li>Efficient closed-form solution of the matrix logarithm for arguments that are
SO(3) or SE(3).</li>
  <li>Special cases of rotation by odd multiples of pi are handled.</li>
  <li>Angle is alway