Euler Angles

The Euler Angles are defined by the following immutable structure:

struct EulerAngles{T<:Real}
    a1::T
    a2::T
    a3::T
    rot_seq::Symbol
end

in which a1, a2, and a3 define the angles and the rot_seq is a symbol that defines the axes. The valid values for rot_seq are:

• :XYX, :XYZ, :XZX, :XZY, :YXY, :YXZ, :YZX, :YZY, :ZXY, :ZXZ, :ZYX, and ZYZ.