Hey guys! I'm new here, so forgive me if I'm posting in the wrong section. I recently picked up a book on robotics and it had a section about rotation matrices. I'm having a difficult time with the decomposition of rotation matrices. Everywhere I look, I can find the the equations for the roll, pitch, and yaw, but there's never any derivation. Can someone explain how you get them or point me in the direction of where I can learn?