function DCMnb = eulr_dcm(eul_vect)

  if nargin<1,error('insufficient number of input arguments'),end

  theta = eul_vect(1); phi = eul_vect(2); psi = eul_vect(3);

  cpsi = cos(psi); spsi = sin(psi);
  cthe = cos(theta); sthe = sin(theta);
  cphi = cos(phi); sphi = sin(phi);

  C1 = [cpsi  spsi 0; ...
        -spsi cpsi 0; ...
         0     0   1];
  C2 = [1   0    0;   ...
        0  cthe sthe; ...
        0 -sthe cthe];  
  C3 = [cphi  0  -sphi; ...
          0   1     0 ; ...
        sphi  0   cphi];
  
  DCMnb = C3 * C2 * C1;