Return the three Euler angles, in radians, corresponding to the rotational part of the homogeneous transform given as input.
This block has one regular input.
The number of outputs to this block is three and all outputs are regular outputs. The first output is the phi angle, the second is the theta angle and the third output is the psi angle.
rt_eul2tr_if, rt_tr2rpy_if, rt_tr2eul,
Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32