function retQuat=eul2quat(eulAngle)
x=eulAngle(:,1);
y=eulAngle(:,2);
z=eulAngle(:,3);
retQuat=[cos(x/2).*cos(y/2).*cos(z/2)+sin(x/2).*sin(y/2).*sin(z/2) ...
        sin(x/2).*cos(y/2).*cos(z/2)-cos(x/2).*sin(y/2).*sin(z/2) ...
        cos(x/2).*sin(y/2).*cos(z/2)+sin(x/2).*cos(y/2).*sin(z/2) ...
        cos(x/2).*cos(y/2).*sin(z/2)-sin(x/2).*sin(y/2).*cos(z/2)];