https://jp.mathworks.com/help/robotics/ref/rotm2axang.html
rotm2axang - Convert rotation matrix to axis-angle rotation - MATLAB
This MATLAB function converts a rotation given as an orthonormal rotation matrix, rotm, to the corresponding axis-angle representation, axang.
convertrotationmatrixaxisangle
https://se.mathworks.com/help/nav/ref/rotm2axang.html
rotm2axang - Convert rotation matrix to axis-angle rotation - MATLAB
This MATLAB function converts a rotation given as an orthonormal rotation matrix, rotm, to the corresponding axis-angle representation, axang.
convertrotationmatrixaxisangle
https://de.mathworks.com/help/nav/ref/rotm2axang.html
rotm2axang - Convert rotation matrix to axis-angle rotation - MATLAB
This MATLAB function converts a rotation given as an orthonormal rotation matrix, rotm, to the corresponding axis-angle representation, axang.
convertrotationmatrixaxisangle