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Convert rotation matrix to angle-vector form
[theta,v] = tr2angvec(T) as above but uses the rotational part of the homogeneous transform T. If R (3x3xK) or T (4x4xK) represent a sequence then theta (Kx1)is a vector of angles for corresponding elements of the sequence and v (Kx3) are the corresponding axes, one per row.© 1990-2011 Peter Corke.