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Euler angle rate Jacobian
J = eul2jac(eul) is a Jacobian matrix (3x3) that maps Euler angle rates to angular velocity at the operating point eul=[PHI, THETA, PSI].
J = eul2jac(phi, theta, psi) as above but the Euler angles are passed as separate arguments.
© 1990-2012 Peter Corke.