Rotation angle, returned as a numeric scalar for a scalar input and as an
N-by-M matrix for an array input.
N and M are the dimensions of the input
rotation or transformation argument. Each
element of the matrix is an angle, in radians, and each angle corresponds to a rotation
or transformation in the input at the same index location.
The rotation angle is counterclockwise positive when you look along the axis toward
the origin.
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