quaternion to euler angles

float
quaternion::rot_x() const
{
        float rotx = atan2(2*((m_w * m_x) + (m_y * m_z)), 1 - (2 * ((m_x* m_x) + (m_y * m_y))));
        return rotx;
}

float
quaternion::rot_y() const
{
        float roty = asin(2 * ((m_w * m_y) - (m_z * m_x)));
        return roty;
}


float
quaternion::rot_z() const
{
        float rotz = atan2(2 * ((m_w * m_z) + (m_x * m_y)), 1 - (2 * ((m_y * m_y) + (m_z * m_z))));
        return rotz;
}