%============================================================================
% Copyright (C) 2014, Heikki Hyyti
%
% Permission is hereby granted, free of charge, to any person obtaining a
% copy of this software and associated documentation files (the "Software"),
% to deal in the Software without restriction, including without limitation
% the rights to use, copy, modify, merge, publish, distribute, sublicense,
% and/or sell copies of the Software, and to permit persons to whom the
% Software is furnished to do so, subject to the following conditions:
%
% The above copyright notice and this permission notice shall be included in
% all copies or substantial portions of the Software.
%
% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
% IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
% FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
% THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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% FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
% DEALINGS IN THE SOFTWARE.
%============================================================================

function [y, p, r] = yawpitchroll(R11, R21, R31, R32, R33)
    y = atan2(R21, R11);
    p = asin(-R31);
    r = atan2(R32,R33);
end