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euler_passive<-function(phi,theta,psi)
{
### code borrowed from Package: cda by Baptiste Auguie
Rot<-matrix(0, ncol=3,nrow=3);
cosphi = cos(phi); cospsi = cos(psi); costheta = cos(theta);
sinphi = sin(phi); sinpsi = sin(psi); sintheta = sin(theta);
Rot[1,1] = cosphi*costheta*cospsi - sinphi*sinpsi;
Rot[1,2] = sinphi*costheta*cospsi + cosphi*sinpsi;
Rot[1,3] = -sintheta*cospsi;
Rot[2,1] = -cosphi*costheta*sinpsi - sinphi*cospsi;
Rot[2,2] = -sinphi*costheta*sinpsi + cosphi*cospsi;
Rot[2,3] = sintheta*sinpsi;
Rot[3,1] = cosphi*sintheta;
Rot[3,2] = sinphi*sintheta;
Rot[3,3] = costheta;
return(Rot)
}
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