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Jul 8th, 2018
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  1. R(3,1)/(R(3,2))=(cos⁡(fi)*sin⁡(theta))/(-sin⁡(theta)*sin⁡(fi))=-cos⁡(fi)/(sin⁡(fi))=-cotg(fi)→  fi=atan2(-R(3,2)/cos⁡(theta) ,R(3,1)/cos⁡(theta) )
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