Make a rotation (or direction cosine) matrix

This function is used to make a rotation (or direction cosine) matrix out of sets of Euler angles, pitch, roll, and heading.

euler2rotmat(p, r, h)

Arguments

p	The pitch angle in radians.
r	The roll angle in radians.
h	The heading or yaw angle in radians.

Value

One or more 3x3 rotation matrices. If p, r, and h are all scalars, Q is a 3x3 matrix, Q = H

Examples

vec1 <- matrix(c(1:10), nrow = 10)
vec2 <- matrix(c(11:20), nrow = 10)
vec3 <- matrix(c(21:30), nrow = 10)
Q <- euler2rotmat(p = vec1, r = vec2, h = vec3)