function R = convertRPYtoRot(phi, theta, psi)
    % Convert roll, pitch, yaw to a body-to-world Rotation matrix
    %   The rotation matrix in this function is world to body [bRw] you will
    %   need to transpose this matrix to get the body to world [wRb] such that
    %   [wP] = [wRb] * [bP], where [bP] is a point in the body frame and [wP]
    %   is a point in the world frame

    R = [cos(psi) * cos(theta) - sin(phi) * sin(psi) * sin(theta), ...
         cos(theta) * sin(psi) + cos(psi) * sin(phi) * sin(theta), ...
         -cos(phi) * sin(theta); ...
         -cos(phi) * sin(psi), ...
         cos(phi) * cos(psi), ...
         sin(phi); ...
         cos(psi) * sin(theta) + cos(theta) * sin(phi) * sin(psi), ...
         sin(psi) * sin(theta) - cos(psi) * cos(theta) * sin(phi), ...
         cos(phi) * cos(theta)];
end
