Compute natural angle of rotation
q = naturalAngle( computes the natural angle
of the provided rotation,
R. A 3-D rotation has a unique nonnegative
angle of rotation in the range [0,pi] radians called the natural angle. Note that the value
of this angle can be expressed in any angular unit.
The returned natural angle,
q, has the same unit as the provided
rotation. If the rotation does not have a unit, the natural angle is in degrees.
To learn about attributes of methods, see Method Attributes.