ic">logarithm of SO(3) or SE(3) matrix</span></p><p>
<strong>s</strong> = <span style="color:red">trlog</span>(<strong>R</strong>) is the matrix logarithm (3x3) of <strong>R</strong> (3x3)  which is a skew
symmetric matrix corresponding to the vector theta*w where theta is the
rotation angle and w (3x1) is a unit-vector indicating the rotation axis.

</p>
<p>
[<strong>theta</strong>,<strong>w</strong>] = <span style="color:red">trlog</span>(<strong>R</strong>) as above but returns directly <strong>theta</st