You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: dcm2euler.m
    path of file: ./repos/NaveGo/conversions
    
    the code of the file until where you have to start completion: function euler = dcm2euler(DCMbn)
% dcm2euler: converts from body-to-nav DCM to Euler angles.
%
% INPUT
%   DCMbn, 3x3 body-to-nav DCM.
%
% OUTPUT
%   euler, 3x1 Euler angles [roll pitch yaw] (rad, rad, rad).
%
%   Copyright (C) 2014, Rodrigo Gonzalez, all rights reserved.
% 
%   This file is part of NaveGo, an open-source MATLAB toolbox for
%   simulation of integrated navigation systems.

    
function euler = dcm2euler(DCMbn)
% dcm2euler: converts from body-to-nav DCM to Euler angles.
%
% INPUT
%   DCMbn, 3x3 body-to-nav DCM.
%
% OUTPUT
%   euler, 3x1 Euler angles [roll pitch yaw] (rad, rad, rad).
%
%   Copyright (C) 2014, Rodrigo Gonzalez, all rights reserved.
% 
%   This file is part of NaveGo, an open-source MATLAB toolbox for
%   simulation of integrated navigation systems.
%
%   NaveGo is free software: you can redistribute it and/or modify
%   it under the terms of the GNU Lesser General Public License (LGPL)
%   version 3 as published by the Free Software Foundation.
%
%   This program is distributed in the hope that it will be useful,
%   but WITHOUT ANY WARRANTY; without even the implied warranty of
%   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
%   GNU Lesser General Public License for more details.
%
%   You should have received a copy of the GNU Lesser General Public
%   License along with this program. If not, see
%   <http://www.gnu.org/licenses/>.
%
% References:
% 	Titterton, D.H. and Weston, J.L. (2004). Strapdown
% Inertial Navigation Technology (2nd Ed.). Institution
% of Engineering and Technology, USA. Eq. 11.4. Eq. 3.66, p. 46.
%
%   R. Gonzalez, J. Giribet, and H.D. Pati√±o,. An approach to
% benchmarking of loosely coupled low-cost navigation systems,
% Mathematical and Computer Modelling of Dynamical Systems, vol. 21,
% issue 2, pp. 272-287. Eq. 15.
%
% Version: 002
% Date:    2016/11/26
% Author:  Rodrigo Gonzalez <rodralez@frm.utn.edu.ar>
% URL:     https://github.com/rodralez/navego

phi   =  atan( DCMbn(3,2) ./ DCMbn(3,3) );  % roll
theta = -asin( DCMbn(3,1) );                % pitch
psi   =  atan2( DCMbn(2,1), DCMbn(1,1) );   % yaw

euler = [phi theta psi];

end