How to find angles from matrix

How to find angles from matrix
There has been several questions been made in the past for this theme.

The attached file is a pdf file zipped.

The file is taken from this link.

In my last project I used this quite well. The decision which of the two sets of values should be used I simply add the 3 abs values for each set and take the lower sum set.

I'll leave this here for future use of the community.

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