parameters: (R : Rotation)
return_statement: return math.acos(max(min(ctheta,1.0),-1.0))
docstring: Returns absolute deviation of R from identity
docstring_summary: Returns absolute deviation of R from identity
docstring_tokens: Returns absolute deviation of R from identity
function: def angle(R : Rotation) -> float:
      """Returns absolute deviation of R from identity"""
      ctheta = (trace(R) - 1.0)*0.5
      return math.acos(max(min(ctheta,1.0),-1.0))
function_tokens: def angle ( R : Rotation ) -> float : ctheta = ( trace ( R ) - 1.0 ) * 0.5 return math . acos ( max ( min ( ctheta , 1.0 ) , - 1.0 ) )