 angles. To orthogonalize the matrix, use
</p>

<pre class="matlab">
[U,~,V] = svd(R_approx)
R = U*V.'
</pre>

<pre class="mloutput">
R =
   -0.0394    0.9931   -0.1103
   -0.7747    0.0394    0.6311
    0.6311    0.1103    0.7678
</pre>

<p><code>eulang</code> now works:</p>

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

<pre class="mloutput">
ans =
    0.1730    0.6954    1.3978
</pre>
   
<!-- ============================================================= -->
<div class="subtitle">See also</div>

<p>
<a class="e