DMIS Euler Transformation

The term "Euler Angle" is used for any representation of 3 dimensional rotations where the rotation is decomposed into 3 separate angles.

Thinking about 3D rotations this seems the natural way to proceed but our intuition can be deceptive and there are a lot of problems that arise using the Euler angles to do calculations.

The convention of specifying a coordinate system relative to a reference coordinate system by the means of three angles of rotation: around the reference system Z axis, the resultant coordinate system Y axis and the further resultant Z axis.