ROLL 
PITCH 
YAW 
Rotation around the fronttoback 
Rotation around the sidetoside axis 
Rotation around the vertical axis 
written by Ian Humphrey <I.Humphrey@sct.gu.edu.au>
The Euler Angles (a, b, g) comprise a parametrisation
of arbitrary rotations in threedimensional space.
The description in this document coincides with that of "Angular Momentum
in Quantum Mechanics" by Edmonds and "Angular Momentum" by Brink
and Satchler, two standard texts in the field.
The effect of Euler angle rotation R=(a, b, g) is briefly
as follows:
1. We start in frame S with cartesian axes, x, y and z.
2. We begin with a positive (anticlockwise) rotation of magnitude a about the
z axis of S. The resulting frame is called S'.
3. Next a positive rotation of magnitude b about the y' axis of frame S'. The
resulting frame is called S''.
4. Finally a positive rotation of magnitude g about the z'' axis of S''. The
resulting frame is called S'''.
STEP 1:

STEP 2:

STEP 3:
