https://in.mathworks.com/help/nav/ref/quat2axang.html
quat2axang - Convert quaternion to axis-angle rotation - MATLAB
This MATLAB function converts a quaternion, quat, to the equivalent axis-angle rotation, axang.
angle rotationconvertquaternionaxismatlab
https://nl.mathworks.com/help/robotics/ref/quat2axang.html
quat2axang - Convert quaternion to axis-angle rotation - MATLAB
This MATLAB function converts a quaternion, quat, to the equivalent axis-angle rotation, axang.
angle rotationconvertquaternionaxismatlab