Jacobian from RPY angle rates to angular velocity
J = rpy2jac(EUL) J = rpy2jac(R, P, Y)
J = RPY2JAC(EUL) is a Jacobian matrix (3x3) that maps roll-pitch-yaw angle rates to angular velocity at the operating point RPY=[R,P,Y].
J = RPY2JAC(R, P, Y) as above but the roll-pitch-yaw angles are passed as separate arguments.
Used in the creation of an analytical Jacobian.