function [Phi,Theta,Psi] = getEuler(A)

% Example
%  A=[.5, sqrt(2)/2, .5; - sqrt(2)/2, 0,  sqrt(2)/2; .5, - sqrt(2)/2, .5]
% Then can find  eig(A) or [V,D]= eig(A)

Phi=atan(-A(3,1)/A(3,2))
Theta=atan(sqrt(A(3,1)^2+A(3,2)^2)/A(3,3))
Psi=atan(A(1,3)/A(2,3))