A rotation matrix describes a rotation about some arbitrary axis, called the Euler axis. The " axial vector" returned by this routine has the same direction as the Euler axis, and its magnitude is the amount of rotation in radians. (The magnitude and direction can be separated by means of the routine palDvn.)

palDm2av( double rmat[3][3], double axvec[3] );

rmat = double [3][3] (Given)

axvec = double [3] (Returned)

• Uses eraRm2v(). See SOFA/ERFA documentation for details.