diff --git a/Rotation_matrix_angles.m b/Rotation_matrix_angles.m
new file mode 100644
index 0000000..518669a
--- /dev/null
+++ b/Rotation_matrix_angles.m
@@ -0,0 +1,3 @@
+thetax=atan2(-R(2,3),R(3,3));
+thetay=atan2(R(1,3),sqrt((R(1,1))^2+(R(1,2))^2));
+thetaz=atan2(-R(1,2),R(1,1));