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

Here is a paper I wrote on converting a quaternion to Euler angles.

Link 1

I have also put a number of documents at this location discussing various aspects of quaternions, Euler angles and rotation matrices (DCM).

Link 2