# Pitch, roll, yaw rotations?

I have a random orientation in a room described by pitch, yaw, and roll angles.

When I do roll about $30$ degrees I need to update pitch, yaw and roll so that they can still describe my orientation afterwards. The same goes for yawing and pitching.

Questions:

• Is that possible with simple mathematics like $\sin$ and $\cos$ ?
• When I remember an orientation, can I rotate myself starting with pitch = 0, yaw = 0, roll = 0 back to that remembered orientation ?
• Is the order irrelevant for that rotation ?

(I'm not that good in maths and I'm also not sure how to tag my question)