alglib.minasa.minasastate state = new alglib.minasa.minasastate();
alglib.minasa.minasareport report = new alglib.minasa.minasareport();

double[] initialAngles = new double[3];
double[] lowerBounds = new double[3];
double[] upperBounds = new double[3];         

for(int i=0; i<3; i++)
{
   initialAngles[i] = 0.0;
   lowerBounds[i] = -Math.PI;
   upperBounds[i] = Math.PI;
}

alglib.minasa.minasacreate(3, initialAngles, lowerBounds, upperBounds, state);
alglib.minasa.minasasetcond(state, 0.0, 0.0, 0.00001, 0);
alglib.minasa.minasasetxrep(state, true);
alglib.minasa.minasasetstpmax(state, 0.2);

while(alglib.minasa.minasaiteration(state))
{
   if(state.needfg)
   {   
                // Estimate the new position of the segment tip                           
      Matrix3f rotation =  Matrix3f.FromEulerAnglesXYZ(state.x[0], state.x[1], state.x[2]);
      Vector3f length = new Vector3f(segments[0].length, 0, 0);
      point2 = bodyRotation * length + point1;

                // Calculate distance between the point we want to reach and the current point
                double distance = Vector3f.euclideanDistance(coordinates, point2);

                // Here is the problem how to estimate the values of these parameters??????               
      state.f = distance; // Needs fixing?
      state.g[0] = ?
      state.g[1] = ?
           state.g[2] = ?            
   }
}
// Get the results
alglib.minasa.minasaresults(state, initialAngles, report);

double a = initialAngles[0];
double b = initialAngles[1];
double c = initialAngles[2];