Euler angles to rotation matrix in the (3,1,3) convention ↩

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created: 2022-04-16 07:30:03
modified: 2022-04-16 07:30:03

The is a common convention used for Euler angles. In this case, we get the corresponding rotation matrix the following way (with coordinate rotations):

Where we used the following notations for compactness: , , etc…

The inverse of this procedure is seen in Rotation matrix to Euler angles in the (3,1,3) convention