Euler angles to homogeneous transform
TR = EUL2TR(PHI, THETA, PSI, OPTIONS) TR = EUL2TR(EUL, OPTIONS)
Compute angles in degrees (radians default)
T = EUL2TR(PHI, THETA, PSI, OPTIONS) is a homogeneous transformation 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.
T = EUL2TR(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.
The translational part is zero.