EulerRotationMatrix​(RotationAxis, Angle, AngleUnits, DebugFlag)

Function Description:
This function returns a 3x3 ROTATION MATRIX (R). It can accept angle inputs in both "degree" and "radian" for any of the three axes (x,y,z).

AUTHOR: Sugato Ray | Created on: 11-AUG-2017 | ray.sugato[at]gmail.com

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
PLEASE ACKNOWLEDGE THE AUTHOR IF YOU USE THIS CODE
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

INPUT:
rotationAxis = 'x' or, 'y' or, 'z'. ; Default: 'z'
Angle = angle of rotation (Numeric input only) ; Default: 0
AngleUnits = 'D' for Degrees or, 'R' for Radians ; Default: 'D'
DebugFlag = 1 (true) or, 0 (false) ; Default: 0

Note: DebugFlag = 1 enables printing Rotation Matrix (R) on Console.

OUTPUT:
R = Rotation matrix about the axis of rotation

EXAMPLE:
R = EulerRotationMatrix(rotationAxis, Angle, AngleUnits, DebugFlag);
R = EulerRotationMatrix('x', 60, 'D'); % Rotate by 60 degs about x-axis
R = EulerRotationMatrix('z', pi/3, 'R'); % Rotate by pi/3 rads about z-axis

Alternative approach: Define a function handle

RotZ = @(ang) EulerRotationMatrix('z',ang,'D',1);
RotZ(60);

RotY = @(ang) EulerRotationMatrix('y',ang,'D',1);
RotY(60);

RotX = @(ang) EulerRotationMatrix('x',ang,'D',1);
RotX(60);

Test the value of RotX(60) against the following result:

Rx = [1,0,0; 0, cosd(60), -sind(60); 0, sind(60), cosd(60)]