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`rm2v(`

`r`)

[SOFA] Returns the rotation vector corresponding to rotation matrix

, which must have 3 elements in its first two
dimensions. The returned rotation vector has the same direction as
the Euler axis of matrix `r`

and has its magnitude equal to
the rotation angle in radians of the rotation matrix. It has the same
dimensions as `r`

except that the first dimension (equal to
3) is omitted.
`r`