class="esf" href="erot.html">erot</a>, the input rotation matrix is recovered.
</p>

<p>
For details about Euler angles and rotation matrices, see the page on <a href="eulerangles.html">relative orientations</a>.
</p>

<p>
The rotation matrix must be a 3x3 real matrix with determinant +1 to within 0.01, otherwise the function errors. For smaller deviations, a warning is issued.
</p>

<p>
Since (&alpha;,&beta;,&gamma;) and (&alpha;+/-&pi;,-&beta;,&gamma;+/-&pi;) describe the same rotation, there is more than