Euler angle rate Jacobian
J = ZYZ2JAC(EUL) J = ZYZ2JAC(PHI, THETA, PSI)
J = ZYZ2JAC(EUL) is a Jacobian matrix (3x3) that maps Euler angle rates to angular velocity at the operating point EUL=[PHI, THETA, PSI].
J = ZYZ2JAC(PHI, THETA, PSI) as above but the Euler angles are passed as separate arguments.
Used in the creation of an analytical Jacobian.