www.pudn.com > SINS-MatlabImplement.rar > a2caw.m, change:2008-03-22,size:211b


function Caw=a2caw(att) 
    si = sin(att(1)); ci = cos(att(1)); ti = si/ci; 
    sj = sin(att(2)); cj = cos(att(2)); 
    Caw = [  cj, 0, sj;  
            sj*ti,  1, -ci/ti;  
            -sj/ci, 0, cj/ci ];