zxz rotation

%% zxz rotation from yxz rotation
t1 = pi/4 ; % 45 deg
t2 = pi/6 ; % 30 deg
t3 = pi/3 ; % 60 deg

c1 = cos(t1);
c2 = cos(t2);
c3 = cos(t3);
s1 = sin(t1);
s2 = sin(t2);
s3 = sin(t3);

%yaw
y = [
  c1, 0, s1;
   0, 1,  0;
 -s1, 0, c1
];

%pitch
x = [
  1,  0,   0;
  0, c2, -s2;
  0, s2,  c2
] ;

%roll
z = [
  c3, -s3, 0;
  s3,  c3, 0;
   0,   0, 1
];

zxz = [
  c1*c3 - c2*s1*s3, -c1*s3 - c3*c2*s1,  s2*s1;
  c2*c1*s3 + c3*s1,  c1*c2*c3 - s1*s3, -c1*s2;
             s3*s2,             c3*s2,     c2
]


yxz = y*x*z