s="helptopic">Euler angle rate Jacobian</span></p><p>
<strong>J</strong> = <span style="color:red">eul2jac</span>(<strong>phi</strong>, <strong>theta</strong>, <strong>psi</strong>) is a Jacobian matrix (3x3) that maps Euler angle rates to
angular velocity at the operating point specified by the Euler angles <strong>phi</strong>, <strong>theta</strong>, <strong>psi</strong>.

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<strong>J</strong> = <span style="color:red">eul2jac</span>(<strong>eul</strong>)  as above but the Euler angles are passed 