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Mapping Euler rotation angles to Direction Cosines

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Mapping Euler rotation angles to Direction Cosines

I would like to know if anybody has this working in a mathcad work sheet. The procedure is concanted. The three Euler angles THXY, THYZ, and THZX are performed in succession. The convention that I'm working with produces the unit vector, in Cartesian coordinates, {100) when THXY=THYZ=THZX=0. Likewise, when the three Euler angles THXY=45deg, THYZ=10deg, and THZX=10deg are performed in succession, the resulting unit vector (0.675, 0.7177, -0.1710) is produced. Attached is a figure explaining it in more detail (euler.jpg). If you can help out it would be appreciated. My email is john.kump@smi.siemens.com
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