Added all the 12 Euler angle notations to the rotation matrix module.
The methods added include: axis_angle_to_euler_ijk(), euler_ijk_to_axis_angle(), euler_ijk_to_R(), R_to_euler_ijk(), reverse_euler_ijk().
Authored by: bugman 2009-12-07
Parent: [r10065]
Child: [r10067]
