Return angle, axis corresponding to these Euler angles
Uses the z, then y, then x convention above
Parameters : | z : scalar
y : scalar
x : scalar
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Returns : | theta : scalar
vector : array shape (3,)
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Examples
>>> theta, vec = euler2angle_axis(0, 1.5, 0)
>>> print(theta)
1.5
>>> np.allclose(vec, [0, 1, 0])
True