Euler angles to rotation matrix
R = zyz2r(PHI, THETA, PSI, OPTIONS) R = zyz2r(EUL, OPTIONS)
Compute angles in degrees (radians default)
R = ZUZ2R(PHI, THETA, PSI, OPTIONS) is an orthonornal rotation matrix equivalent to the specified Euler angles. These correspond to rotations about the Z, Y, Z axes respectively. If PHI, THETA, PSI are column vectors then they are assumed to represent a trajectory and R is a three dimensional matrix, where the last index corresponds to rows of PHI, THETA, PSI.
R = ZYZ2R(EUL, OPTIONS) as above but the Euler angles are taken from consecutive columns of the passed matrix EUL = [PHI THETA PSI].
The vectors PHI, THETA, PSI must be of the same length.