Q2Eul:

Path: Common/Quaternion

% Converts a quaternion to 3-2-1 Euler angles. 
 Uses the input e(1) for e(1) near the singularity.

--------------------------------------------------------------------------
   Form:
   e = Q2Eul( q, e )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   q		(4,1)  Quaternion
   e		(3,1)  Euler angles

   -------
   Outputs
   -------
   e		(3,1)  Euler angles

--------------------------------------------------------------------------

Children:

Common: Quaternion/Q2Mat
Common: Transform/Mat2Eul

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