output a 4d rotation matrix given as input a rotation angle specified as a 4 dimensional input array in matlab

main.m
function rotMat = getRotationMatrix(rotAngle)
% ROTANGLE is a 4-dimensional input array [theta1, theta2, theta3, theta4]
% that specifies the rotation angles about each of the 4 axes in order.

% Compute the sine and cosine values of each angle
s = sin(rotAngle);
c = cos(rotAngle);

% Compute the rotation matrix elements
rotMat = [ c(2)*c(3)*c(4) - s(2)*s(4),   c(2)*c(3)*s(4) + s(2)*c(4),  -c(2)*s(3),  0;
           -c(1)*s(4) + s(1)*s(2)*c(4),  c(1)*c(4) + s(1)*s(2)*s(4),   s(1)*c(3),   0;
           s(1)*s(4) + c(1)*s(2)*c(4),   -s(1)*c(4) + c(1)*s(2)*s(4),  c(1)*c(3),   0;
           0,                            0,                             0,           1];
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