On the wikipedia page there is a listing of 12 matrices that can be used to represent a yaw-pitch-roll rotation series (YXZ) as a ZXZ rotation, or an XZX rotation, or an XZY rotation..
1) Should the ZXZ rotation matrix be exactly equal to the YXZ rotation matrix?
- If so, why isn't this MATLAB script producing identical matrices? (zxz formula based on the wikipedia page)
2) How are the ZXZ etc rotation matrices derived? How would you go about deriving a zxzxz rotation matrix?