def euler_jacobian(euler,u):
gamma=euler[0] #yaw
beta=euler[1] #pitch
alpha=euler[2] #roll
J=zeros((3,3))
J[:,0]=dot(HRP4.euler2mat_dgamma(euler),u)
J[:,1]=dot(HRP4.euler2mat_dbeta(euler),u)
J[:,2]=dot(HRP4.euler2mat_dalpha(euler),u)
return J
