* Function to convert given quaternion to Euler angles. * \f{eqnarray*}{ * \phi & = & * \tan^{-1}\left[\frac{2\left(q_0q_1+q_2q_3\right)}{1-2\left(q_1^2+q_2^2\right)}\right]\\ * \theta & = * &-\sin^{-1}\left[2\left(q_0q_2-q_3q_1\right)\right]\\ * \psi & = & * \tan^{-1}\left[\frac{2\left(q_0q_3+q_1q_2\right)}{1-2\left(q_2^2+q_3^2\right)}\right]\\ * \f} * * @param [in] in_quat input quater
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