ng>, <strong>options</strong>) as above but uses the rotational part of the
homogeneous transform <strong>T</strong> (4x4).

</p>
<p>
If <strong>R</strong> (3x3xK) or <strong>T</strong> (4x4xK) represent a sequence then <strong>theta</strong> (Kx1)is a vector
of angles for corresponding elements of the sequence and <strong>v</strong> (Kx3) are the
corresponding axes, one per row.

</p>
<h2>Options</h2>
<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> 'deg'</td> <td>Return angle in d