ZYZ2T
Return a homogeneous transformation for the Euler angles set (in radians) given as input. These correspond to rotations about the Z, Y and Z axes respectively. The number of inputs to this block is three and all inputs are regular inputs. The first input is the phi angle, i.e. a rotation about the Z-axis of current reference frame. The second input is the theta angle, i.e. a rotation about the Y-axis of current reference frame. The third input is the psi angle, i.e. a rotation about the Z-axis of current reference frame. This block has one regular output.