This class represents the orientation between two arbitrary frames A and D
associated with a Space-fixed (extrinsic) X-Y-Z rotation by “roll-pitch-yaw”
angles [r, p, y], which is equivalent to a Body-fixed (intrinsic) Z-Y-X
rotation by “yaw-pitch-roll” angles [y, p, r]. The rotation matrix R_AD
associated with this roll-pitch-yaw [r, p, y] rotation sequence is equal
to the matrix multiplication shown below.