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. 

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