I'm not quite sure what you mean but I think I have worked out what I need to do.
I think I need to calculate the transform matrix from the matrix of frame 1 and the inverse matrix of frame 2. This matrix corresponds to the Euler rotation matrix and so I simply have to equate the matrix...
Fairly straight forward question. If you have a set of three vectors specifying a frame of reference and a second set of 3 vectors stating another frame of reference. How do you get the Euler angles associated with that rotation?
More generally I am considering the relative orientation of one...