Compute active rotation matrix from extrinsic zxz Euler angles.
This function was not implemented correctly in versions 1.3 and 1.4 as the order of the angles was reversed, which actually corresponds to intrinsic rotations. This has been fixed in version 1.5.
- earray-like, shape (3,)
Angles for rotation around z-, x-, and z-axes (extrinsic rotations)
- Rarray-like, shape (3, 3)