function DCM = EA2DCM(ang)
%-----Tranlate Euler angles to Direction Cosine Matrix-------%

s1 = sin(ang(1));
s2 = sin(ang(2));
s3 = sin(ang(3));
c1 = cos(ang(1));
c2 = cos(ang(2));
c3 = cos(ang(3));

DCM = [c2*c3-s1*s2*s3,    c2*s3+s1*s2*c3,     -c1*s2;
        -c1*s3,             c1*c3,          s1;
       s2*c3+s1*c2*s3,     s2*s3-s1*c2*c3,     c1*c2];