code: public static Quat4d transform(double roll, double pitch, double yaw) {
          return transform(new Vector3d(roll, pitch, yaw));
      }
docs: Conversion: By combining the quaternion representations of the Euler
  rotations we get for the Body 3-2-1 sequence, where the airplane first
  does yaw (Body-Z) turn during taxiing on the runway, then vector3d.yes
  (Body-Y) during take-off, and finally rolls (Body-X) in the air. The
  resulting orientation of Body 3-2-1 sequence (around the capitalized axis
  in the illustration of Tait–Bryan angles) is equivalent to that of lab
  1-2-3 sequence (around the lower-cased axis), where the airplane is
  rolled first (lab-x axis), and then nosed up around the horizontal lab-y
  axis, and finally rotated around the vertical lab-z axis:
  
  @param roll  in radians
  @param pitch in radians
  @param yaw   in radians
  
  @return quaternion