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FIGURE 3 Coordinate axes used to define three-dimensional elementary rotations. To be consistent with the legends for Figs. 4-6, the x- and y-axes should be viewed as coming out of the page. If the x- and y-axes are viewed as going into the page, all axes and angles still remain consistent with the equations used here, since only the handedness of the coordinate system is changed.

FIGURE 3 Coordinate axes used to define three-dimensional elementary rotations. To be consistent with the legends for Figs. 4-6, the x- and y-axes should be viewed as coming out of the page. If the x- and y-axes are viewed as going into the page, all axes and angles still remain consistent with the equations used here, since only the handedness of the coordinate system is changed.

y-translation:

z -translation:

Pitch:

Roll:

Yaw:

y-translation:

z -translation:

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