function R = RPY(q)
%RPY
%    R = RPY(IN1)

%    This function was generated by the Symbolic Math Toolbox version 8.0.
%    19-Mar-2018 11:39:28

q1 = q(:,1);
q2 = q(:,2);
q3 = q(:,3);
t2 = cos(q3);
t3 = sin(q1);
t4 = sin(q3);
t5 = cos(q1);
t6 = sin(q2);
t7 = cos(q2);
R = reshape([t2.*t7,t4.*t7,-t6,-t4.*t5+t2.*t3.*t6,t2.*t5+t3.*t4.*t6,t3.*t7,t3.*t4+t2.*t5.*t6,-t2.*t3+t4.*t5.*t6,t5.*t7],[3,3]);