use angle=atan2(sin,cos) inorder to find the angles

Inverse Kinematics of RPY Wrist Joint Write a MATLAB function that calculates two sets of RPY (Roll Pitch Yaw) angles given a valid rotation matrix of an RPY wrist joint. The function should accept as input the 3x3 rotation matrix and provide as output the two sets of angles as formatted output on the screen For example, consider an RPY rotation matrix: 0.354 -0.674 0.649 R=1 0.505 0.722 0.475 -0.788 0.160 0.595 The two sets of angles that satisfy the rotation matrix are Roll = 55, Pitch = 52, Yaw = 15 and Rol!--125, Pitch = 128, Yaw =-165 This problem was solved in class on 8/27. The formatted output of your function can look something like: First Solution Roll = 55.0 deg Pitch = 52.0 deg Yaw = 15.8 deg Second Solutiorn Roll -125.0 deg Pitch = 128.0 deg Yaw = -164.9 deg