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diff --git a/Eigen/src/Geometry/EulerAngles.h b/Eigen/src/Geometry/EulerAngles.h
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+++ b/Eigen/src/Geometry/EulerAngles.h
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+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_EULERANGLES_H
+#define EIGEN_EULERANGLES_H
+
+namespace Eigen { 
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  *
+  * \returns the Euler-angles of the rotation matrix \c *this using the convention defined by the triplet (\a a0,\a a1,\a a2)
+  *
+  * Each of the three parameters \a a0,\a a1,\a a2 represents the respective rotation axis as an integer in {0,1,2}.
+  * For instance, in:
+  * \code Vector3f ea = mat.eulerAngles(2, 0, 2); \endcode
+  * "2" represents the z axis and "0" the x axis, etc. The returned angles are such that
+  * we have the following equality:
+  * \code
+  * mat == AngleAxisf(ea[0], Vector3f::UnitZ())
+  *      * AngleAxisf(ea[1], Vector3f::UnitX())
+  *      * AngleAxisf(ea[2], Vector3f::UnitZ()); \endcode
+  * This corresponds to the right-multiply conventions (with right hand side frames).
+  */
+template<typename Derived>
+inline Matrix<typename MatrixBase<Derived>::Scalar,3,1>
+MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const
+{
+  /* Implemented from Graphics Gems IV */
+  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived,3,3)
+
+  Matrix<Scalar,3,1> res;
+  typedef Matrix<typename Derived::Scalar,2,1> Vector2;
+  const Scalar epsilon = NumTraits<Scalar>::dummy_precision();
+
+  const Index odd = ((a0+1)%3 == a1) ? 0 : 1;
+  const Index i = a0;
+  const Index j = (a0 + 1 + odd)%3;
+  const Index k = (a0 + 2 - odd)%3;
+
+  if (a0==a2)
+  {
+    Scalar s = Vector2(coeff(j,i) , coeff(k,i)).norm();
+    res[1] = internal::atan2(s, coeff(i,i));
+    if (s > epsilon)
+    {
+      res[0] = internal::atan2(coeff(j,i), coeff(k,i));
+      res[2] = internal::atan2(coeff(i,j),-coeff(i,k));
+    }
+    else
+    {
+      res[0] = Scalar(0);
+      res[2] = (coeff(i,i)>0?1:-1)*internal::atan2(-coeff(k,j), coeff(j,j));
+    }
+  }
+  else
+  {
+    Scalar c = Vector2(coeff(i,i) , coeff(i,j)).norm();
+    res[1] = internal::atan2(-coeff(i,k), c);
+    if (c > epsilon)
+    {
+      res[0] = internal::atan2(coeff(j,k), coeff(k,k));
+      res[2] = internal::atan2(coeff(i,j), coeff(i,i));
+    }
+    else
+    {
+      res[0] = Scalar(0);
+      res[2] = (coeff(i,k)>0?1:-1)*internal::atan2(-coeff(k,j), coeff(j,j));
+    }
+  }
+  if (!odd)
+    res = -res;
+  return res;
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_EULERANGLES_H