rotaxis_from_rotmat¶
-
pycraf.geometry.
rotaxis_from_rotmat
(R)[source] [edit on github]¶ Cartesian rotation axis and angle from rotation matrix.
- Parameters
- R
array
Rotation matrix [no units!]
- R
- Returns
Notes
Broadcasting is supported. The returned rotation axis vector is normalized (otherwise it’s magnitude would change the effective rotation angle).