# euler2rot¶

Transforms Euler angles (roll, pitch and yaw $$\Phi, \Theta, \Psi$$) into a 3x3 rotation matrix describing that rotates a vector in yaw pitch, and roll.

The rotations are performed successively, first in yaw, then in pitch and finally in roll.

$\mathbf{T}_{AG} = \mathbf{\tau}_x(\Phi) \mathbf{\tau}_y(\Theta) \mathbf{\tau}_z(\Psi)$

where $$\mathbf{\tau}$$ represents the rotation about the subscripted axis.

param euler

1x3 array with the Euler angles in the form [roll, pitch, yaw] in radians

type euler

np.array

returns

3x3 transformation matrix describing the rotation by the input Euler angles.

rtype

np.array