Function File: output = EAmatrix (angles, convention)

Generates the Eulerangle rotation matrix in the given convention.

Using the equivalence between Euler angles and rotation composition, it is possible to change to and from matrix convention. Fixed (world)axes and column vectors, with intrinsic composition (composition of rotations about body axes) ofactive rotationsand the right-handed rule for the positive sign of the angles are assumed. This means for example that a convention named (YXZ) is the result of performing firstan intrinsic Y rotation, followedbyan Xanda Z rotations, in the moving axes.

Subindexes refer to the order in which theangles are applied. Trigonometric notation hasbeen simplified. For example,c1 meanscos(