equential rotations about X, Y, Z axes</td></tr>
</table>
<p>
'vehicle'  Return solution for sequential rotations about Z, Y, X axes

</p>
<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> 'camera'</td> <td>Return solution for sequential rotations about Y, X, Z axes</td></tr>
</table>
<h2>Notes</h2>
<ul>
  <li>There is a singularity for the case where P=pi/2 in which case R is arbitrarily
set to zero and Y is the sum (R+Y).</li>
  <li>Translation component is ignored.</li>
  <li>Tool