Nothing
rotationMatrixZYX_SM <- function(t, t2=NULL, t3=NULL){
if(length(t) == 1){
t[2] <- t2
t[3] <- t3
}
z <- matrix(c(cos(t[1]), -sin(t[1]), 0, sin(t[1]), cos(t[1]), 0, 0, 0, 1), 3, 3, byrow=TRUE)
y <- matrix(c(cos(t[2]), 0, sin(t[2]), 0, 1, 0, -sin(t[2]), 0, cos(t[2])), 3, 3, byrow=TRUE)
x <- matrix(c(1, 0, 0, 0, cos(t[3]), -sin(t[3]), 0, sin(t[3]), cos(t[3])), 3, 3, byrow=TRUE)
z %*% y %*% x
}
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