1function [J,J1,J2] = eulerang(phi,theta,psi) 2% [J,J1,J2] = EULERANG(phi,theta,psi) computes the Euler angle 3% transformation matrices 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); 13 14J1 = Rzyx(phi,theta,psi); 15 16if cth==0, error('J2 is singular for theta = +-90 degrees'); end 17 18J2 = [... 19 1 sphi*sth/cth cphi*sth/cth; 20 0 cphi -sphi; 21 0 sphi/cth cphi/cth ]; 22 23J = [ J1 zeros(3,3); 24 zeros(3,3) J2 ];