# Can anyone help me with the "Axis rotation sequence for the Euler angles"

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Chaitanya Mulla on 28 Nov 2019
Answered: Jan on 29 Nov 2019
I need the information for the eul2rotm of "XYX"
I couldnt find this even on matlab documentation

Jan on 28 Nov 2019
What does "the information for the eul2rotm of "XYX"" mean? Which problem do you want to solve?
Chaitanya Mulla on 28 Nov 2019
I need to solve the problem having the order of rotation angles which is x-axis,
y-axis, x-axis (i.e., XYX) using eul2rotm. hope this helps
Jan on 29 Nov 2019
It is still not clear. Do you want to obtain the rotation matrix for and input of 3 angles and the order XYX?
eul2rotm uses ZYX, ZYZ and XYZ only. So if you really want to get XYX with eul2rotm the answer is: This does not work.

Jan on 29 Nov 2019
The rotation matrix for the Euler angles in the order XYX is:
s1 = sin(alpha);
c1 = cos(alpha);
s2 = sin(beta);
c2 = cos(beta);
s3 = sin(gamma);
c3 = cos(gamma);
[c2, s2.*s1, -s2.*c1; ...
s3.*s2, c3.*c1-s3.*c2.*s1, c3.*s1+s3.*c2.*c1; ...
c3.*s2, -s3.*c1-c3.*c2.*s1, -s3.*s1+c3.*c2.*c1];