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+<H2><A NAME="SECTION000447000000000000000">SLA_DM2AV - Rotation Matrix to Axial Vector</A>
+<A NAME="xref_SLA_DM2AV">&#160;</A><A NAME="SLA_DM2AV">&#160;</A>
+</H2>
+       <DL>
+<DT><STRONG>ACTION:</STRONG>
+<DD>From a rotation matrix, determine the corresponding axial vector
+(double precision).
+<P>    <DT><STRONG>CALL:</STRONG>
+<DD><TT>CALL sla_DM2AV (RMAT, AXVEC)</TT>
+<P>       </DL>
+<P>     <DL>
+<DT><STRONG>GIVEN:</STRONG>
+<DD>
+<BR>
+<TABLE CELLPADDING=3>
+<TR VALIGN="TOP"><TD ALIGN="LEFT"><EM>RMAT</EM></TD>
+<TH ALIGN="LEFT"><B>D(3,3)</B></TH>
+<TD ALIGN="LEFT" NOWRAP>rotation matrix</TD>
+</TR>
+</TABLE></DL>
+<P>     <DL>
+<DT><STRONG>RETURNED:</STRONG>
+<DD>
+<BR>
+<TABLE CELLPADDING=3>
+<TR VALIGN="TOP"><TD ALIGN="LEFT"><EM>AXVEC</EM></TD>
+<TH ALIGN="LEFT"><B>D(3)</B></TH>
+<TD ALIGN="LEFT" NOWRAP>axial vector (radians)</TD>
+</TR>
+</TABLE></DL>
+<P>      <DL>
+<DT><STRONG>NOTES:</STRONG>
+<DD><DL COMPACT>
+<DT>1.
+<DD>A rotation matrix describes a rotation about some arbitrary axis.
+The axis is called the <I>Euler axis</I>, and the angle through
+which the reference frame rotates is called the <I>Euler angle</I>.
+        The <I>axial vector</I> returned by this routine has the same
+        direction as the Euler axis, and its magnitude is the Euler angle
+        in radians.
+  <DT>2.
+<DD>The magnitude and direction of the axial vector can be separated
+        by means of the routine sla_DVN.
+  <DT>3.
+<DD>The reference frame rotates clockwise as seen looking along
+        the axial vector from the origin.
+  <DT>4.
+<DD>If RMAT is null, so is the result.
+ </DL></DL>
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+<ADDRESS>
+<I>SLALIB --- Positional Astronomy Library<BR>Starlink User Note 67<BR>P. T. Wallace<BR>12 October 1999<BR>E-mail:ptw@star.rl.ac.uk</I>
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