main/src/georegression/geometry/ConvertRotation3D_F64.java
public static DMatrixRMaj eulerToMatrix( EulerType type ,
												double rotA, double rotB, double rotC,
												DMatrixRMaj R ) {
		R = checkDeclare3x3( R );

		DMatrixRMaj R_a = rotationAboutAxis( type.getAxisA(), rotA, null );
		DMatrixRMaj R_b = rotationAboutAxis( type.getAxisB(), rotB, null );
		DMatrixRMaj R_c = rotationAboutAxis( type.getAxisC(), rotC, null );

		DMatrixRMaj A = new DMatrixRMaj( 3, 3 );

		CommonOps_DDRM.mult( R_b, R_a, A );
		CommonOps_DDRM.mult( R_c, A, R );

		return R;
	}
public static DMatrixRMaj eulerToMatrix( EulerType type ,
												double rotA, double rotB, double rotC,
												DMatrixRMaj R ) {
		R = checkDeclare3x3( R );

		DMatrixRMaj R_a = rotationAboutAxis( type.getAxisA(), rotA, null );
		DMatrixRMaj R_b = rotationAboutAxis( type.getAxisB(), rotB, null );
		DMatrixRMaj R_c = rotationAboutAxis( type.getAxisC(), rotC, null );

		DMatrixRMaj A = new DMatrixRMaj( 3, 3 );

		CommonOps_DDRM.mult( R_b, R_a, A );
		CommonOps_DDRM.mult( R_c, A, R );

		return R;
	}
Converts an Euler coordinate into a rotation matrix.  Different type of Euler coordinates are accepted.
@param type Which Euler coordinate is the input in
@param rotA Angle of rotation around axis A.  First rotation
@param rotB Angle of rotation around axis B   Second rotation
@param rotC Angle of rotation around axis C   Third rotation
@param R (Output) Optional storage for output rotation matrix
@return Rotation matrix