The Euler angles are three angles introduced by Leonhard Euler to describe the orientation of a rigid body with respect to a fixed coordinate system. They can also represent the orientation of a mobile frame of reference in physics or the orientation of a general basis in 3-dimensional linear algebra.
Any orientation can be achieved by composing three elemental rotations, i.e. rotations about the axes of a coordinate system. Euler angles can be defined by three of these rotations. They can also be defined by elemental geometry and the geometrical definition demonstrates that three rotations are...
