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Euler angle rate Jacobian
J = eul2jac(phi, theta, psi) is a Jacobian matrix (3x3) that maps Euler angle rates to angular velocity at the operating point specified by the Euler angles phi, theta, psi.
J = eul2jac(eul) as above but the Euler angles are passed as a vector eul=[phi, theta, psi].
© 1990-2014 Peter Corke.