@staticmethod
def _ypr_from_rot_matrix(r):
    yaw = atan2(r[(1, 0)], r[(0, 0)])
    pitch = atan2((- r[(2, 0)]), np.sqrt(((r[(2, 1)] ** 2) + (r[(2, 2)] ** 2))))
    roll = atan2(r[(2, 1)], r[(2, 2)])
    return (yaw, pitch, roll)
@staticmethod
def _ypr_from_rot_matrix(r):
    yaw = atan2(r[(1, 0)], r[(0, 0)])
    pitch = atan2((- r[(2, 0)]), np.sqrt(((r[(2, 1)] ** 2) + (r[(2, 2)] ** 2))))
    roll = atan2(r[(2, 1)], r[(2, 2)])
    return (yaw, pitch, roll)