Rotator code is totally incorrect

[vtereshkov]

Description
Roll, pitch and yaw do not constitute a vector. In practice it means that:

• When you add, subtract, multiply, interpolate, normalize orientations as vectors, you get meaningless quantities
• The (roll, pitch, yaw) triad does not define the rotation axis direction
• The final orientation depends on the order in which the roll, pitch and yaw rotations are applied
• There are orientations that are not representable by roll, pitch and yaw

You have to do one of the following:

• Treat roll, pitch and yaw as separate scalars that obey the Euler equations
• Represent orientation by a 3 x 3 rotation matrix
• Represent orientation by a quaternion

Options 2 and 3 imply that roll, pitch and yaw, if needed, are computed by request and never used for intermediate computations.