def getRotationMatrixFromEulerAngle(self, euler_angle):
    R_x = np.array([[1, 0, 0], [0, cos(euler_angle[0]), (- sin(euler_angle[0]))], [0, sin(euler_angle[0]), cos(euler_angle[0])]])
    R_y = np.array([[cos(euler_angle[1]), 0, sin(euler_angle[1])], [0, 1, 0], [(- sin(euler_angle[1])), 0, cos(euler_angle[1])]])
    R_z = np.array([[cos(euler_angle[2]), (- sin(euler_angle[2])), 0], [sin(euler_angle[2]), cos(euler_angle[2]), 0], [0, 0, 1]])
    rotation_matrix = np.dot(R_z, np.dot(R_y, R_x))
    return rotation_matrix
def getRotationMatrixFromEulerAngle(self, euler_angle):
    R_x = np.array([[1, 0, 0], [0, cos(euler_angle[0]), (- sin(euler_angle[0]))], [0, sin(euler_angle[0]), cos(euler_angle[0])]])
    R_y = np.array([[cos(euler_angle[1]), 0, sin(euler_angle[1])], [0, 1, 0], [(- sin(euler_angle[1])), 0, cos(euler_angle[1])]])
    R_z = np.array([[cos(euler_angle[2]), (- sin(euler_angle[2])), 0], [sin(euler_angle[2]), cos(euler_angle[2]), 0], [0, 0, 1]])
    rotation_matrix = np.dot(R_z, np.dot(R_y, R_x))
    return rotation_matrix