A set of three angles used to describe the orientation of an entity as a set of three successive rotations about three different orthogonal axes (x, y, and z). The order of rotation is first about z by angle (psi), then about the new y by angle (theta), then about the newest x by angle (phi). Angles psi and phi range between +/- pi, while angle theta ranges only between +/- pi/2 radians. These angles specify the successive rotations needed to transform from the world coordinate system to the entity coordinate system. The positive direction of rotation about an axis is defined by the right-hand rule. [DIS]
Yiseti yee-engile ezintathu ezisetyenziswa ekuchaseni ukuziqhelanisa kwento njengeseti yojikelezo kathathu oluyimpumelelo olumalunga ne-asi ze-orthonogonal ezintathu ezahlukeneyo (x, y, no-z). Uhlobo lojikelezo luqala nge-engile ka-z (psi), luze nge-engile entsha ka-y (i-theta), luze ngeyona intsha ka-x (phi). Ii-engile u-psi no-phi zisukela phakathi kuka-+/- pi, ngeli lixa i-thetha yona isukela kuphela phakathi kweradiyensi u-+/- pi/2. Ezi engile zicacisa imppumelelo yojikelezo olufunekayo ekuguqulweni kwinkqubo yolungelelaniso yehlabathi kusiwe kwinkqubo yolungiselelo lwento. Indlela elungileyo yojikelezo olumalunga nee-asi ichazwa ngomthetho wesandla sasekunene. [DIS]