function R=Reuler(x)

  R=[cos(x(1))*cos(x(2)) \
     -cos(x(3))*sin(x(1))+cos(x(1))*sin(x(2))*sin(x(3)) \
     cos(x(1))*cos(x(3))*sin(x(2))+sin(x(1))*sin(x(3)) ;
     cos(x(2))*sin(x(1)) \
     cos(x(1))*cos(x(3))+sin(x(1))*sin(x(2))*sin(x(3)) \
     cos(x(3))*sin(x(1))*sin(x(2))-cos(x(1))*sin(x(3));
     -sin(x(2)) cos(x(2))*sin(x(3)) cos(x(2))*cos(x(3)) ;
     ];

endfunction