Roll pitch and yaw from Rotation matrix with Eigen Library

Question

I need to extract the roll pitch yaw angles from a rotation matrix and I want to be sure that what I do is correct.

    Eigen::Matrix< simFloat, 3, 1> rpy         


        

Answer 1

The answer by Shawn Le is correct but I think the line should be

Vector3f ea = m.eulerAngles(2, 1, 0);

Then ea will hold the yaw pitch and roll value in that order. ZYX euler angle rotation is equivalent to XYZ fixed axis rotation which is nothing but roll pitch and yaw.