This link shows Matlab notation which appears to be like rx, ry, rz, as far as I can tell.
https://math.stackexchange.com/questions/219864/matlab-function-rotation-matrix

google search of "matlab rotation matrix 3d" brings up all sorts of good information and code, but your questions were answered by Michael :-)
- Brian

Your link is about contructing a rotation matrix along a given axis and with a given angle.
It is a general formula to build a rotation matrix

In my case, rx, ry and rz are three 3D vectors.
They are the rows of my rotation matrix.

Michael answered by question.