RollPitchYawMatrix

RollPitchYawMatrix[{α,β,γ}] gives the 3D rotation matrix formed by rotating by α around the initial z axis, then by β around the initial y axis, and then by γ around the initial x axis.

RollPitchYawMatrix[{α,β,γ},{a,b,c}] gives the 3D rotation matrix formed by rotating by α around the fixed a axis, then by β around the fixed b axis, and then by γ around the fixed c axis.

Examples

Create a rotation matrix with specified angles:

RollPitchYawMatrix[{Pi/4, Pi/6, Pi/3}]

Please visit the official Wolfram Language Reference for more details.