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You programmed 6 Taitâ€“Bryan angles (x-y-z, y-z-x, z-x-y, x-z-y, z-y-x, y-x-z) and 6 Euler angles (z-x-z, x-y-x, y-z-y, z-y-z, x-z-x, y-x-y)

In your program, the Euler angles cannot handle negative values though! ...

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