original angles.
</p>

<pre class="matlab">
eulang(R)*180/pi
</pre>

<pre class="mloutput">
ans =
   34.0000   72.0000 -143.0000
</pre>

<p>
If the elements of a rotation matrix are not known to sufficient precision, the matrix might not be orthogonal:
</p>

<pre class="matlab">
R_approx = [-0.04    0.99   -0.11
            -0.77    0.04    0.63
             0.63    0.11    0.77];
det(R_approx)
</pre>

<pre class="mloutput">
ans =
    0.9935
</pre>

<p>
and <code>eulang</code> will refuse to calculate Euler