+/** Convenience function to return a 3D vector containing the Euler angles
+ * in the requested order.
+ */
+template < class MatT, typename Real > vector< Real, fixed<3> >
+matrix_to_euler(
+ const MatT& m,
+ EulerOrder order,
+ Real tolerance = epsilon<Real>::placeholder())
+{
+ Real e0, e1, e2;
+ matrix_to_euler(m, e0, e1, e2, order, tolerance);
+ return vector< Real, fixed<3> >(e0, e1, e2);
+}
+