geometry.rotations.axis_angle_from_rotation

geometry.rotations.axis_angle_from_rotation = <function axis_angle_from_rotation>

Returns the (axis,angle) representation of a given rotation.

There are a couple of symmetries:

• By convention, the angle returned is nonnegative.
• If the angle is 0, any axis will do. In that case, default_axis() will be returned.