HCR - Rotation Matrix Descriptor 'Euler Angles'

I have to specify beforehand in which axis i will rotate: ~ex.: ZXZ Also all Euler Angles will do 3 elementary rotations: $[\phi ,\theta ,\psi ]$

Where for formality:

• “ROLL” : always means a rotation along the $z$ axis
• “PITCH” : always means a rotation along the $y$ axis
• “YAW” : always means a rotation along the $x$ axis

This are names that sailor uses for rotating the ships

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• ~ Examples of Euler Angles Rotations:
  • ZXZ (Most used for the Euler Angles, ‘Standard for Euler Angles’):$$ R^O_{O \kern 1px ’} = R_z(\varphi) \kern 1px R_x(\theta) \kern 1px R_z(\psi)

$$-\ast \ast ZYX\ast \ast {(}^{\prime }\ast \ast \ast RollPitchandYaw\ast \ast {\ast }^{\prime }o{r}^{\prime }\ast \ast \ast [[HCR-RotationMatrixDescripto{r}^{\prime }RPYAngle{s}^{\prime }|RPYangles]]\ast \ast {\ast }^{\prime }):$$

R^O_{O \kern 1px ’} = R_z(\varphi) \kern 1px R_y(\theta) \kern 1px R_x(\psi)