Converts a unit quaternion to an axis-angle representation.
| Type | Intent | Optional | Attributes | Name | ||
|---|---|---|---|---|---|---|
| real(kind=rp), | intent(in), | dimension(4) | :: | q |
Unit quaternion. |
|
| real(kind=rp), | intent(out), | dimension(3) | :: | axis |
Unit vector along the axis of rotation. |
|
| real(kind=rp), | intent(out) | :: | angle |
Angle in radian. |