import numpy as np
import math

def isClose(x, y, rtol=1.e-5, atol=1.e-8):
    return abs(x-y) <= atol + rtol * abs(y)
    
def RM2EA(R):
    phi = 0.0
    if isClose(R[2,0],-1.0):
        theta = math.pi/2.0
        psi = math.atan2(R[0,1],R[0,2])
    elif isClose(R[2,0],1.0):
        theta = -math.pi/2.0
        psi = math.atan2(-R[0,1],-R[0,2])
    else:
        theta = -math.asin(R[2,0])
        cos_theta = math.cos(theta)
        psi = math.atan2(R[2,1]/cos_theta, R[2,2]/cos_theta)
        phi = math.atan2(R[1,0]/cos_theta, R[0,0]/cos_theta)
    return psi, theta, phi

R = np.array([[0.50000, -0.1464, 0.85360],
              [0.50000, 0.85360, -0.1464],
              [-0.7071, 0.50000, 0.50000]])

roll, pitch, yaw = RM2EA(R)

print("roll:  {}\npitch: {}\nyaw:   {}".format(roll, pitch, yaw))

roll:  0.7853981633974483
pitch: 0.7853885733974476
yaw:   0.7853981633974483