RPYM(R, P, Y) = Rotation matrix, R = roll, P = pitch, Y = yaw:

Returns rotation matrix that does a roll then a pitch and then a yaw.

rollMatrix = {1, 0, 0; 0, cos(R), sin(R); 0, −sin(R), cos(R)}

pitchMatrix = {cos(P), 0, −sin(P); 0, 1, 0; sin(P), 0, cos(P)}

yawMatrix = {cos(Y), sin(Y), 0; 0, −sin(Y), cos(Y), 0; 0, 0, 1}

Rotation matrix = yawMatrix * pitchMatrix * rollMatrix

If R, P, and/or Y are complex, this still works, but I don't know what it means.

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