z*(sin(rpitch)*sin(ryaw) + cos(rpitch)*cos(ryaw)*sin(rroll)) - y*(cos(rpitch)*sin(ryaw) - cos(ryaw)*sin(rpitch)*sin(rroll)) + x*cos(rroll)*cos(ryaw)

y*(cos(rpitch)*cos(ryaw) + sin(rpitch)*sin(rroll)*sin(ryaw)) - z*(cos(ryaw)*sin(rpitch) - cos(rpitch)*sin(rroll)*sin(ryaw)) + x*cos(rroll)*sin(ryaw)

z*cos(rpitch)*cos(rroll) - x*sin(rroll) + y*cos(rroll)*sin(rpitch)