%INVEULERTESER   Tests inveuler.m
% Tests inveuler.m a times
%
% Syntax:  inveulertester(a)
%
% Inputs:
%    a - number of times to test
%
% Other m-files required: inveuler.m

% Author: Travis Hydzik
% Last revision: 19 October 2004

function inveulertester(a)

	for i=1:a
        
        disp('--------------------------------------------');
        
		a = 10*rand-5; %rand number between -5 nad 5
		b = 10*rand-5;
		c = 10*rand-5;
		
		[a b c]
		T = rotz(a)*roty(b)*rotz(c)
		[theta1, theta2] = inveuler(T);
		
		theta1
		T1 = rotz(theta1(1))*roty(theta1(2))*rotz(theta1(3))
		toleq(T1,T,.00000001);
		
		theta2
		T2 = rotz(theta2(1))*roty(theta2(2))*rotz(theta2(3))
		toleq(T2,T,.00000001);
	end