compose / decompose 3x3 rotation matrix (comp_decomp_matrix​)

Compose 3x3 rotation matrix from euler angles or decompose 3x3 rotation matrix to euler angles

COMP_DECOMP_MATRIX: compose 3x3 rotation matrix from euler angles (in degrees) or decompose 3x3 rotation matrix to euler angles (in degrees)
Input: 1x3 vector of euler rotations around x rotations(1), y
rotations(2), and z, rotations(3) or 3x3 rotation matrix
Output: 3x3 matrix representing rotations around x, y, and z axis
or 1x3 vector of euler angles in degrees

NOTE: Euler angles returned when doing a decomposition will be in the following ranges (in radians):

% theta_x --> (-pi, pi)
% theta_y --> (-pi/2, pi/2)
% theta_z --> (-pi, pi)

Angles within these ranges will be the same after decomposition: angles outside these ranges will produce the correct rotation matrix, but the decomposed values will be different to the input angles.