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is probably incorrect. It shows extrinsic ZYX Euler angles, while it should show extrinsic XYZ, which correspond to intrinsic ZYX. I think what's needed is to reverse the order of matrix multiplication: instead of R_xR_yR_z it should be R_zR_yR_x
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I think that it would be salient to make a reference to the rotational axes pitch, roll and yaw from aviation.
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on
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Why are the reference frames of images 2 and 3 left handed? I find it very confusing.
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I think the yaw-pitch-roll matrix multiplication formula is wrong
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Davenport chained rotations#Tait–Bryan chained rotations
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