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Solve the following problem using Python, implementing the functions described below, one line at a time
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Description:

def convert_body_frame(self, phi, theta, phiDot, thetaDot, psiDot):
        '''convert a set of roll rates from earth frame to body frame'''
        p = phiDot - psiDot*math.sin(theta)
        q = math.cos(phi)*thetaDot + math.sin(phi)*psiDot*math.cos(theta)
        r = math.cos(phi)*psiDot*math.cos(theta) - math.sin(phi)*thetaDot
        return (p, q, r)