function [R] =  rot(yaw, pitch, roll)

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

Ry = [
    cosd(pitch) 0  -sind(pitch);
    0            1  0;
    sind(pitch) 0  cosd(pitch)
];

Rz = [
    cosd(yaw)  sind(yaw)  0;
    -sind(yaw) cosd(yaw)  0;
    0           0           1
];

R = Rx*Ry*Rz;

