(Rp)
</pre>

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<div class="subtitle">Description</div>

<p>
Given a <a href="eulerangles.html">rotation matrix</a> <code>Rp</code>, the function <code>eulang</code> computes the <a href="eulerangles.html">Euler angles</a> defining the same rotation and returns them separately or as a 3-element vector <code>angles = [alpha, beta, gamma]</code>. The angles are in radians.
</p>

<p>
The calculated Euler angles are such that if provided to <a 