Computing Euler angles from a rotation matrix 旋转矩阵转欧拉角

ThisdocumentdiscussesasimpletechniquetofindallpossibleEuleranglesfrom a rotation matrix. Determination of Euler angles is sometimes a necessary step in computer graphics, vision, robotics, and kinematics. However, the solution may or may not be obvious. 本文档讨论了从旋转矩阵中提取可能的椭圆的完整技术。 确定欧拉角有时是计算机图形学，视觉，机器人和运动学中的必要步骤。 但是，解决方案可能会或可能不明显。