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angles from rotation matrix

Hello everybody!

Is there a function in IDL to get the 
rotation angles from a given rotation matrix
(in order first X than Y  than Z (or arbitrary order))?

Another problem I have is to find the rotation
matrix to rotate two pointsets (Xi and Xii)
so that the distance betweent the corresponding
points of the set is minimized.
I have a algorithm using SVDC,
but wonder if IDL provides also another
solution for this.