get angle from rotation matrix in matlab

You can use the dcm2angle function in MATLAB to get the angles (euler angles or axis-angle representation) from a rotation matrix. Here is an example of how to use it:

main.m
% Define the rotation matrix
R = [0.707, -0.707, 0; 0.707, 0.707, 0; 0, 0, 1];

% Calculate the angles
[phi, theta, psi] = dcm2angle(R, 'XYZ');

% Display the angles
fprintf('Euler angles (XYZ): phi = %f, theta = %f, psi = %f\n', phi, theta, psi);
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In this example, the rotation matrix R represents a rotation of 45 degrees around the z-axis. The dcm2angle function calculates the Euler angles (phi, theta, psi) corresponding to this rotation matrix. The 'XYZ' argument specifies the order of the rotations.

You can use other options with dcm2angle to get axis-angle representation or different order of rotations. Please refer to the MATLAB documentation for more details on the dcm2angle function.