aa_from_rotmat Subroutine

public subroutine aa_from_rotmat(rotmat, axis, angle)

Extracts axis and angle from a rotation matrix.

Arguments

Type	Intent	Optional	Attributes		Name
real(kind=rp),	intent(in),		dimension(3,3)	::	rotmat	Rotation matrix (must be orthonormal).
real(kind=rp),	intent(out),		dimension(3)	::	axis	Unit vector along the axis.
real(kind=rp),	intent(out)			::	angle	Angle of rotation in radian.