Programming Assignment:

$($a$)$ Using the Z$-$Y$-$Z $(,,)$ Euler angle convention, write a MATLAB program to calculate the

rotation matrix $R$ when the user enters the Euler angles $,,.$ Test for two examples: $($a$)$

$=10,=20,=30,$ and $($ii$)=30,=90,=-55.$

$($b$)$ Write a MATLAB program to calculate the Euler angles $(,,)$ when the user enters the

rotation matrix $R($the inverse problem$).$ Calculate both possible solutions. Demonstrate this

inverse solution for the two cases from part $($a$).$