SampleApp.MainForm.UpdateEstimationInformation C# (CSharp) Method

        private void UpdateEstimationInformation()
        {
            estimatedTransformationMatrixControl.SetMatrix(
                Matrix4x4.CreateTranslation(translationVector) *
                Matrix4x4.CreateFromRotation(rotationMatrix));

            float estimatedYaw;
            float estimatedPitch;
            float estimatedRoll;

            rotationMatrix.ExtractYawPitchRoll(out estimatedYaw, out estimatedPitch, out estimatedRoll);

            estimatedYaw *= (float)(180.0 / Math.PI);
            estimatedPitch *= (float)(180.0 / Math.PI);
            estimatedRoll *= (float)(180.0 / Math.PI);

            estimationLabel.Text = string.Format("Rotation: (yaw(y)={0}, pitch(x)={1}, roll(z)={2})",
                estimatedYaw, estimatedPitch, estimatedRoll);
        }