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I have a unit vector of two angles. A roll, rotation around Y-axis; and a pitch, rotation around X-axis. If I apply a yaw, rotation around the Z-axis, how do I calculate what the new angles are of the vector in roll and pitch?

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I'd suggest converting your vector into $(x, y, z)$ coordinates, applying the rotation, and converting it back. –  Tanner Swett Sep 27 '12 at 21:09
    
What is a vector of two angles? Usually roll is around x and pitch is around y. –  Ross Millikan Sep 27 '12 at 21:39
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