1function R = Rzyx(phi,theta,psi)
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33cphi = cos(phi);
34sphi = sin(phi);
35cth = cos(theta);
36sth = sin(theta);
37cpsi = cos(psi);
38spsi = sin(psi);
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40R = [...
41 cpsi*cth -spsi*cphi+cpsi*sth*sphi spsi*sphi+cpsi*cphi*sth
42 spsi*cth cpsi*cphi+sphi*sth*spsi -cpsi*sphi+sth*spsi*cphi
43 -sth cth*sphi cth*cphi ];