input euler angles which outputs rotation matrix R

Hi , i have the euler angles ?, ?, ? which i want to input in a function which returns a rotation matrix R in matlab

Answer 1

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function R = RotationMatrix(phi,theta,psi)
p = phi ;
t = theta ;
s = psi ;

D = [cos(p) sin(p) 0 ; -sin(p) cos(p) 0 ; 0 0 1] ;
C = [1 0 0 ; 0 cos(t) sin(t) ; 0 -sin(t) cos(t)] ;
B = [cos(s) sin(s) 0 ; -sin(s) cos(s) 0 ; 0 0 1] ;
R = B*C*D ; 
end

REad more here: http://mathworld.wolfram.com/EulerAngles.html

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Fredrik Tveita commented: Thank you so much.

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Thanks is accepting and voting the answer..:)