[tex:\left( \begin{array}{cccc} R_x\cos\phi\cos\psi & R_x\left(\cos\theta\sin\psi+\sin\theta\sin\phi\cos\psi\right) & R_x\left(\sin\theta\sin\psi-\cos\theta\sin\phi\cos\psi\right) & 0 \ -R_x\cos\phi\sin\psi & R_x\left(\cos\theta\cos\psi-\sin\theta\sin\phi\sin\psi\right) & R_x\left(\cos\theta\sin\phi\sin\psi+\sin\theta\cos\psi\right) & 0 \ R_z\sin\theta & -R_z\cos\theta \sin\theta & R_z{\cos\theta }^{2} & 0 \ 0 & 0 & 0 & 1 \end{array}\right)]
