www.pudn.com > calibr8.zip > euler.m

function rotmat = euler(ox, fy, kz)
%DEVELOPMENT PHASE
%
% rotmat = euler(ox, fy, kz)
%
% computes rotation matrix from euler angles
%
% rotmat - rotation matrix
% ox, fy, kz = rotation angles

rotmat = [ cos(fy)*cos( kz ), cos(ox)*sin(kz) + sin(ox)*sin(fy)*cos(kz), sin(ox)*sin(kz) - cos(ox)*sin(fy)*cos(kz);
	-cos(fy)*sin( kz ), cos(ox)*cos(kz) - sin(ox)*sin(fy)*sin(kz), sin(ox)*cos(kz) + sin(ox)*sin(fy)*sin(kz);
	sin(fy), -sin(ox)*cos(fy), cos(ox)*cos(fy)];