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説明
We recently noticed that rotations such as RotXYZ are extrinsic, meaning that they rotate with respect to the original xyz axis. Is it possible to rotate around z, then rotate around the new y' and finally around the new x''? The so called intrinsic rotations?
https://en.wikipedia.org/wiki/Euler_angles#Chained_rotations_equivalence
We migrated from ReferenceFrameRotations.jl to Rotations.jl and noticed that some of our rotation conventions were compromised.
cc: @hyrodium