1function R = Rzyx(phi,theta,psi) 2% R = Rzyx(phi,theta,psi) computes the Euler angle 3% rotation matrix R in SO(3) using the zyx convention 4% 5% Author: Thor I. Fossen 6% Date: 14th June 2001 7% Revisions: 8 9cphi = cos(phi); 10sphi = sin(phi); 11cth = cos(theta); 12sth = sin(theta); 13cpsi = cos(psi); 14spsi = sin(psi); 15 16R = [... 17 cpsi*cth -spsi*cphi+cpsi*sth*sphi spsi*sphi+cpsi*cphi*sth 18 spsi*cth cpsi*cphi+sphi*sth*spsi -cpsi*sphi+sth*spsi*cphi 19 -sth cth*sphi cth*cphi ];