Computing Euler angles from a rotation matrix
matrix is 1 or −1, which corresponds to θ= −π/2 or θ= π/2, respectively, and to cosθ= 0. When we try to solve for the possible values of ψand φusing the above technique, problems will occur, since the elements R 11, R 21, R 32, and R 33 will all be zero, …
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