A form of angle system in $\R^3$ that is akin to [[Euler Angles|Euler Angles]] define with angles ($\alpha,\beta,\gamma)$. These angles correlate to yaw, roll, and pitch (loosely, different systems & programs may pick different axis's as the decision is arbitrary). $\huge \mathcal C = \mathcal Z_{\alpha} \mathcal Y_{\beta} \mathcal X_{\gamma} $ This is an improved angle system as this transformation is always [[Bijective]].