Nothing
getEulers<-function(R)
{
### psi about X-axis
### theta about Y axis
### phi about Z-axis
if(R[3,1]!=0)
{
theta1 = (-asin(R[3,1]))
theta2 = pi - theta1
psi1 = atan2(R[3,2]/cos(theta1) , R[3,3]/cos(theta1))
psi2 = atan2(R[3,2]/cos(theta2) , R[3,3]/cos(theta2))
phi1 = atan2(R[2,1]/cos(theta1) , R[1,1]/cos(theta1))
phi2 = atan2(R[2,1]/cos(theta2) , R[1,1]/cos(theta2))
SOL1 = c(phi1, theta1, psi1 )
SOL2 = c(phi2, theta2, psi2 )
}
else
{
phi = 0
delta = atan2(R[1,2], R[1,3] )
if(R[3,1] == (-1))
{
theta = pi/2
psi = phi + delta
}
else
{
theta = -pi/2
psi = -phi + delta
}
SOL1 = c(phi, theta, psi )
SOL2 = c(phi, theta, psi )
}
return(SOL1)
}
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