Matlab

Using Z-Y-X (--) Euler angle convention, write a function EulerT( ) which accepts three scalars (, , in degrees) and the position vector and returns the corresponding 4x4 homogeneous transformation matrix. Function EulerT( ) needs to call the function EulerR( ) created in problem 1 to generate the rotation part of the homogeneous transformation matrix. Test two examples: i) = 10, = 20, = 30 , P = [1 2 3]T. ii) = 40, = 30, = 6, P = [3 0 1]T.