axis order for angular velocity
Hello, So I understand this formular gives me the angular rate matrix: E ijk (φ, θ, ψ) := R_k(ψ)^TR_j(θ)^Te_i , R_k(ψ)^T*e_j , ek] for rotational frames
so if I have the convention 'rxyz' then my R_k is R3, R_j is R2, e_i =e_1 =[1, 0, 0], e_j=e_2 = [0,1,0] and e_k = e_1= [0,0,1] doesnt it?
or is it the complete opposite (since we first rotate around the last axis?) R_k is R1, R_j is R2, e_i =e_3 =[0, 0, 1], e_j=e_2 = [0,1,0] and e_k =e_1 = [1,0,0]
But anyway the k and j and i should be consistent right? I mean I can not have R_k is R3, R_j is R2, and then e_i =e_3 =[0, 0, 1], e_j=e_2 = [0,1,0] and e_k = e_1 = [1,0,0]
can I?