Tait-Bryan angles
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In geometry, Tait-Bryan angles are three angles used to describe a general rotation in three-dimensional Euclidean space by three successive rotations, once about the x-axis, once about the y-axis, and once about the z-axis.
They are also called Cardano angles or nautical angles. For a craft moving in the positive x direction, with the right side corresponding to the positive y direction, and the vertical underside corresponding to the positive z direction, these three angles are individually called roll, pitch and yaw.
In aeronautical and aerospace engineering they are often called Euler angles, but this conflicts with existing usage elsewhere.
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