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rotation matrix to Yaw-Pitch-Roll angles


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. 


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