TR2RPY是MATLAB中将SO(3)或SE(3)矩阵转换为roll-pitch-yaw角度的函数。它接受一个齐次变换矩阵或正交旋转矩阵，返回相应的roll、pitch、yaw角。该函数考虑了不同轴的旋转顺序，并处理了在pitch等于π/2时的奇异性问题。函数还支持将结果转换为度数和不同的旋转顺序。
%TR2RPY Convert SO(3) or SE(3) matrix to roll-pitch-yaw angles
%
% RPY = TR2RPY(T, options) are the roll-pitch-yaw angles (1x3)
% corresponding to the rotation part of a homogeneous transform T. The 3
% angles RPY=[ROLL,PITCH,YAW] correspond to sequential rotations about the Z, Y and
% X axes respectively. Roll and yaw angles are in [-pi,pi) while pitch angle is
% in [-pi/2,pi/2).
%
% RPY = TR2RPY(R, options) as above but the input is an orthonormal
% rotation matrix R (3x3).
%
% If R (3x3xK) or T (4x4xK) represent a sequence then each row of RPY
% corresponds to a step of the sequence.
%
% Options::
% 'deg' Compute angles in degrees (radians default)
% 'xyz' Return solution for sequential rotations about X, Y, Z axes
% 'zyx' Return solution for sequential rotations about Z, Y, X axes (default)
% 'yxz' Return solution for sequential rotations about Y, X, Z axes
% 'arm' Return solution for sequential rotations about X, Y, Z axes
% 'vehicle' Return solution for sequential rotations about Z, Y, X axes
% 'camera' Return solution for sequential rotations about Y, X, Z axes
%
% Notes::
% - There is a si
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