Is there an algorithm for converting quaternion rotations to Euler angle rotations?

Question

Is there an existing algorithm for converting a quaternion representation of a rotation to an Euler angle representation? The rotation order for the Euler representation is

Answer 1

I have posted my paper titled "Quaternion to Euler Angle Conversion for Arbitrary Rotation Sequence Using Geometric Methods" on my website at noelhughes.net. I also have algorithms for converting any set of Euler angles to a quaternion and quaternion to/from direction cosine matrix which I will post this weekend. These are also on Martin Bakers website, though a little difficult to find. Google my name, Noel Hughes, and quaternions and you should find it.