 one set of Euler angles that give the same rotation matrix. <code>eulang</code> returns the one with positive &beta;. In the special cases &beta;=0 and &beta;=&pi;, the rotation axes for &alpha; and &gamma; coincide, and the two angles cannot be distinguished. In this case <code>eulang</code> sets &gamma; to zero and describes the entire z rotation by  &alpha;.
</p>

<!-- ============================================================= -->
<div class="subtitle">Algorithm</div>

<p>
<code>eulang</code> first c