void eraRm2v	(	double	r[3][3],
		double	w[3]
	)

Definition at line 3 of file rm2v.c.

Referenced by palDm2av(), and t_rm2v().

{
   double x, y, z, s2, c2, phi, f;


   x = r[1][2] - r[2][1];
   y = r[2][0] - r[0][2];
   z = r[0][1] - r[1][0];
   s2 = sqrt(x*x + y*y + z*z);
   if (s2 > 0) {
      c2 = r[0][0] + r[1][1] + r[2][2] - 1.0;
      phi = atan2(s2, c2);
      f =  phi / s2;
      w[0] = x * f;
      w[1] = y * f;
      w[2] = z * f;
   } else {
      w[0] = 0.0;
      w[1] = 0.0;
      w[2] = 0.0;
   }

   return;

}

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