h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="../../up.png"></a></h2>
<div class="box"><strong>function [R]=Rodrigues_from_two_axes(a1,a2) </strong></div>

<h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="../../up.png"></a></h2>
<div class="fragment"><pre class="comment"> Computation of the Rodrigues equation

   INPUT 2 axes
    - a1 (3*1 array)
   - a2 (3*1 array)
   OUTPUT
   - R: rotation matrix between a1 and a2
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