<span class="helptopic">Convert rotation matrix to angle-vector form</span></p><p>
[<strong>theta</strong>,<strong>v</strong>] = <span style="color:red">tr2angvec</span>(<strong>R</strong>, <strong>options</strong>) is rotation expressed in terms of an
angle <strong>theta</strong> (1x1) about the axis <strong>v</strong> (1x3) equivalent to the orthonormal rotation
matrix <strong>R</strong> (3x3).

</p>
<p>
[<strong>theta</strong>,<strong>v</strong>] = <span style="color:red">tr2angvec</span>(<strong>T</stro