http://nghiaho.com/?page_id=846
http://www.soi.city.ac.uk/~sbbh653/publications/euler.pdf
https://d3cw3dd2w32x2b.cloudfront.net/wp-content/uploads/2012/07/euler-angles.pdf
Yaw-Pitch-Roll
http://personal.maths.surrey.ac.uk/st/T.Bridges/SLOSH/3-2-1-Eulerangles.pdf