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- a11 = cos(b)∗cos(c)
- a12 = −cos(b)∗sin(c)
- a13 = sin(b)
- a21 = cos(a)∗sin(c)+cos(c)∗sin(a)∗sin(b)
- a22 = cos(a)∗cos(c)−sin(a)∗sin(b)∗sin(c)
- a23 = −cos(b)∗sin(a)
- a31 = sin(a)∗sin(c)−cos(a)∗cos(c)∗sin(b)
- a32 = cos(c)∗sin(a)+cos(a)∗sin(b)∗sin(c)
- a33 = cos(a)∗cos(b)
- a = atan2(-a23,a33)
- b = atan2(a13, sqrt(a23^2+a33^2) )
- c = atan2(-a12,a11)
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