rotation - Matlab angle2dcm different definition -

i using matlab function angle2dcm gives me different results expected. digging code (angle2dcm.m) found definition of forming rotation matrix different standard one.

for example, rotation rxryrz (i.e. 'xyz' order) defined as:

%     [          cy*cz, sz*cx+sy*sx*cz, sz*sx-sy*cx*cz] %     [         -cy*sz, cz*cx-sy*sx*sz, cz*sx+sy*cx*sz] %     [             sy,         -cy*sx,          cy*cx] 

while should (please refer link): http://inside.mines.edu/fs_home/gmurray/arbitraryaxisrotation/

is different definition of direction cosine matrix , rotation matrix? thanks!

it's issue notation conventions, since 2 cases (matlab versus link posted) refer opposite orders of rotation. if want use matlab function , continue use convention link posted, possible workaround can call function 'zyx' , invert signs of angles, i.e.

 dcm = angle2dcm( -r1, -r2, -r3,'xyz');       *edited* 

which uses following rotation matrix (see matlab documentation)

         [          cy*cz, sz*cx+sy*sx*cz, sz*sx-sy*cx*cz]          [         -cy*sz, cz*cx-sy*sx*sz, cz*sx+sy*cx*sz]          [             sy,         -cy*sx,          cy*cx] 

if confusing wrap in helper function sign , order inversion you, like

 function dcm = angle2dcm_mines( r1, r2, r3);  dcm = angle2dcm( -r1, -r2, -r3,'xyz'); 

there other ways work around should work.