Yaw, roll and pitch angles

> restart: libname := libname,"C:/MBSymba": with(MBSymba_r6):LA:=LinearAlgebra:

> psi, yaw angle

> phi, roll angle

> mu; pitch aw angle

> TYRP := rotate('Z',psi), rotate('X',phi), rotate('Y',mu);

> TYRP := rotate('Z',psi) * rotate('X',phi) * rotate('Y',mu);

>