Rotation matrix to Euler angles in the (3,1,3) convention ↩

Metadata 
aliases: []
shorthands: {}
created: 2022-04-16 07:42:06
modified: 2022-04-16 07:50:02

Let's say that we have a 3D rotation matrix and we want to get the corresponding Euler angles for it in the convention. Then we can get the angles like this:

Where we assume that the matrix has the following standard indexing:

The inverse of this procedure is seen in Euler angles to rotation matrix in the (3,1,3) convention