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function [Rot] = Euler2Rot(euler)
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rx = euler(1);
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ry = euler(2);
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rz = euler(3);
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Rx = [1 0 0; 0 cos(rx) -sin(rx); 0 sin(rx) cos(rx)];
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Ry = [cos(ry) 0 sin(ry); 0 1 0; -sin(ry) 0 cos(ry)];
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Rz = [cos(rz) -sin(rz) 0; sin(rz) cos(rz) 0; 0 0 1];
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Rot = Rx * Ry * Rz;
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