output a 4d rotation matrix given as input a 4d array of rotation angles in matlab

main.m
function [R] = compute_rotation_matrix(angles)
    % angle_x is the rotation about the x-axis
    angle_x = angles(1);
    % angle_y is the rotation about the y-axis
    angle_y = angles(2);
    % angle_z is the rotation about the z-axis
    angle_z = angles(3);
    % angle_w is the rotation about the diagonal axis
    angle_w = angles(4);
    
    % Compute the sine and cosine of the angles
    cx = cos(angle_x);
    cy = cos(angle_y);
    cz = cos(angle_z);
    cw = cos(angle_w);
    sx = sin(angle_x);
    sy = sin(angle_y);
    sz = sin(angle_z);
    sw = sin(angle_w);

    % Construct the 4D rotation matrix
    R = zeros(4,4);
    R(1,1) = cw*cx*cy*cz - sw*sx*sy*sz;
    R(1,2) = -cw*sx*cy*cz - sw*cx*sy*sz;
    R(1,3) = cw*sy*cz - sw*cy*sz;
    R(1,4) = 0;
    R(2,1) = sw*cx*cy*cz + cw*sx*sy*sz;
    R(2,2) = -sw*sx*cy*cz + cw*cx*sy*sz;
    R(2,3) = sw*sy*cz + cw*cy*sz;
    R(2,4) = 0;
    R(3,1) = sx*cy*cz;
    R(3,2) = cx*cy*cz;
    R(3,3) = -sy*cz;
    R(3,4) = 0;
    R(4,1) = 0;
    R(4,2) = 0;
    R(4,3) = 0;
    R(4,4) = 1;
end
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