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    %% Extract Euler Angles from Homogeneous Transformation Matrix Using ZYZ Rotation  

% Copyright 2015 The MathWorks, Inc.


%%  
tform = [1 0 0 0.5; 0 -1 0 5; 0 0 -1 -1.2; 0 0 0 1];
eulZYZ = tform2eul(tform,'ZYZ')