Quaternion to Euler
google finds many things. amongst them:
http://www.euclideanspace.com/maths/geometry/rotations/conversions/index.htm
-me
http://www.euclideanspace.com/maths/geometry/rotations/conversions/index.htm
-me
That site has the worst layout ever. Nor does it give derivations that are conducive to a comprehensive understanding. But as long as it helps...
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