如何从偏航、俯仰和侧滚获得RotationMatrix

import numpy as np

def get_rotation_matrix(yaw, pitch, roll):
    # 将偏航、俯仰和侧滚转换为弧度制
    yaw = np.radians(yaw)
    pitch = np.radians(pitch)
    roll = np.radians(roll)

    # 计算旋转矩阵的各个分量
    rotation_x = np.array([[1, 0, 0],
                           [0, np.cos(pitch), -np.sin(pitch)],
                           [0, np.sin(pitch), np.cos(pitch)]])

    rotation_y = np.array([[np.cos(roll), 0, np.sin(roll)],
                           [0, 1, 0],
                           [-np.sin(roll), 0, np.cos(roll)]])

    rotation_z = np.array([[np.cos(yaw), -np.sin(yaw), 0],
                           [np.sin(yaw), np.cos(yaw), 0],
                           [0, 0, 1]])

    # 计算最终的旋转矩阵
    rotation_matrix = np.dot(np.dot(rotation_z, rotation_x), rotation_y)

    return rotation_matrix

# 示例使用
yaw = 45  # 偏航角
pitch = 30  # 俯仰角
roll = 60  # 侧滚角

rotation_matrix = get_rotation_matrix(yaw, pitch, roll)
print(rotation_matrix)