Conversion of Rotation Matrix along Axies

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Decompose a rotation matrix into 3 rotations along x, y, and z axis.

\[Rx = \begin\[\begin{matrix} 1 & 0 & 0\\0 & cos\phi & -sin\phi\\0 & sin\phi & cos\phi \end{matrix}\end\]\]
The rotation matrix
\(R_xR_yR_z=\begin{matrix}1 & 0 & 0\\ 0 & 1 & 0 \\ 0 & 0 & 1\end{matrix}\tag{1}\)

Conversion of Rotation Matrix Along Axis

原文：https://www.cnblogs.com/thisisajoke/p/11101254.html