The Euler angles are three angles introduced by Leonhard Euler to describe the orientation of a rigid body with respect to a fixed coordinate system.[1]
They can also represent the orientation of a mobile frame of reference in physics or the orientation of a general basis in 3-dimensional linear algebra. Alternative forms were later introduced by Peter Guthrie Tait and George H. Bryan intended for use in aeronautics and engineering.
references:
https://en.wikipedia.org/wiki/Euler_angles
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