strong> = <span style="color:red">tr2rpy</span>(<strong>R</strong>, <strong>options</strong>) as above but the input is an orthonormal
rotation matrix <strong>R</strong> (3x3).

</p>
<p>
If <strong>R</strong> (3x3xK) or <strong>T</strong> (4x4xK) represent a sequence then each row of <strong>rpy</strong>
corresponds to a step of the sequence.

</p>
<h2>Options</h2>
<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> 'deg'</td> <td>Compute angles in degrees (radians default)</td></tr>
 