www.pudn.com > SINS-MatlabImplement.rar > a2cnb.m, change:2008-02-21,size:297b


function Cnb=a2cnb(att) 
    si = sin(att(1)); ci = cos(att(1));  
    sj = sin(att(2)); cj = cos(att(2));  
    sk = sin(att(3)); ck = cos(att(3)); 
    Cnb = [ cj*ck-si*sj*sk, -ci*sk,  sj*ck+si*cj*sk; 
         cj*sk+si*sj*ck, ci*ck, sj*sk-si*cj*ck; 
         -ci*sj,          si,     ci*cj ];