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rotation matrix to Yaw-Pitch-Roll angles

• To: mathgroup at smc.vnet.net
• Subject: [mg20438] rotation matrix to Yaw-Pitch-Roll angles
• From: gochen at netvision.net.il (Gil C.)
• Date: Tue, 26 Oct 1999 00:33:17 -0400
• Organization: NetVision Israel
• Sender: owner-wri-mathgroup at wolfram.com

Hello,
I know this question was asked before, but I could not find an
answer...
Having the definition of an object's orientation in space (world XYZ
coordinate system), how do I represent its orientation as
Yaw-Pitch-Roll angles ?
I am looking for the formulas.

The rotation matrix is:
3 elements describing the cosine of the angle between X axis, Y axis
and Z axis of the object and the  X of the "world" coordinate system.
next 3 elements are for the object's Y axis.
Last 3 are for Z axis.

Thanks in advance,
Gil.