Make a rotation matrix from a function

Hello i have this function which inputs (phi,theta,psi) and returns a 
rotation matrix R
I want to use this function to create a rotation matrix in my main file with 
self chosen rotation angles.

Here is the function: 

function R = euler_vinkler(phi,theta,psi)
p = phi ;
t = theta ;
s = psi ;
D = [cos(p) sin(p) 0 ; -sin(p) cos(p) 0 ; 0 0 1] ;
C = [1 0 0 ; 0 cos(t) sin(t) ; 0 -sin(t) cos(t)] ;
B = [cos(s) sin(s) 0 ; -sin(s) cos(s) 0 ; 0 0 1] ;
R = B*C*D ; 
end

[David Goodmanson]

This looks good. Is there a question?

[Fredrik Tveita]

Yes i want to create the rotation matrix R, but i get this error:

Error in rotation matrix (line 2)
p = phi ;

How do i choose my value for phi? psi and theta etc?

[David Goodmanson]

If you run, e.g. M = euler_vinkler(1,2,3) of course it works fine. Choice of angles depends on what you want to do, so what is it that you wish to accomplish?

Answer 1

[KSSV]

I think you tried to run the function..by clicking run or without providing inputs. You have to save this code in a file as function with extension .m, the name of file will be euler_vinkler.m.

Now go to the folder where this function/ file is present.

In the command window type:

R = euler_vinkler(45,90,180)

The function will be executed and your output is R.