dcm_to_aa Subroutine

public subroutine dcm_to_aa(dcm, axis, angle)

Converts a direction cosine matrix to an axis-angle representation.

Arguments

Type	Intent	Optional	Attributes		Name
real(kind=rp),	intent(in),		dimension(3,3)	::	dcm	Direction cosine matrix.
real(kind=rp),	intent(out),		dimension(3)	::	axis	Unit vector along the axis.
real(kind=rp),	intent(out)			::	angle	Angle in radian.