The following Matlab project contains the source code and Matlab examples used for compose decompose 3x3 rotation matrix (comp decomp matrix).
COMP_DECOMP_MATRIX: compose 3x3 rotation matrix from euler angles (in degrees) or decompose 3x3 rotation matrix to euler angles (in degrees)
Input: 1x3 vector of euler rotations around x rotations(1), y
rotations(2), and z, rotations(3) or 3x3 rotation matrix
Output: 3x3 matrix representing rotations around x, y, and z axis
or 1x3 vector of euler angles in degrees