RODRIGUES Transform rotation matrix into rotation vector. Syntax: [out,d_out_d_in]=RODRIGUES(in) If IN is a 3x3 rotation matrix then OUT is the corresponding 3x1 rotation vector if IN is a rotation 3-vector then OUT is the corresponding 3x3 rotation matrix d_out_d_in is the derivative of the output wrt the input Makes use of the following subroutines: -> ~/src/matlab/detensor.m -> ~/src/matlab/dABdA.m -> ~/src/matlab/dABdB.m