Eul2Mat:

Path: Common/Transform

% Converts 3-2-1 Euler angles into an orthonormal transformation matrix.

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   Form:
   m = Eul2Mat( e )	
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   ------
   Inputs
   ------
   e		(3)    Euler angles

   -------
   Outputs
   -------
   m		(3,3)  Orthonormal transformation matrix

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