MATLAB axis conversion function question

Hi

Using MATLAB to do axis conversion, I have questions and write questions.

There are angle2dcm and rotx / roty / rotz functions in the axis transformation functions of matlab.

However, from the matlab documentation, the angle2dcm and rotx / roty / rotz functions are transposed to each other.

- Therefore: angle2dcm = (rotx, roty, rotz)'

Why does this difference occur?

I just want to convert the body frame to the navigation frame using DCM.

Textbooks are described as follows.

X_trans = R_x * R_y * R_z * X

(X_trans : transposed position, R_x,y,z : x,y,z-axis rotate matrix, X : origin position)

What function should I use in this situation?

Should I use angle2dcm? Or should I use rotx, roty, rotz?