class ROOT::Math::RotationZYX

 rectify . The angle theta must be defined between [-PI/2,PI.2]
  same as Euler- Angles, just here Theta is shifted by PI/2 with respect to
 the theta of the EulerAngles class

 invert this rotation.
 use Rotation3D. TO Do :have algorithm to invert it directly

 ========== Constructors and Assignment =====================

Default constructor

Constructor from phi, theta and psi

Construct given a pair of pointers or iterators defining the
beginning and end of an array of three Scalars, to be treated as
the angles phi, theta and psi.

Assign from another supported rotation type (see gv_detail::convert )

 ======== Components ==============

Set the three Euler angles given a pair of pointers or iterators
defining the beginning and end of an array of three Scalars.

Get the axis and then the angle into data specified by an iterator begin
and another to the end of the desired data (4 past start).

Get the axis and then the angle into data specified by an iterator begin

Set the components phi, theta, psi based on three Scalars.

Set Phi angle (Z rotation angle)

Return Phi angle (Z rotation angle)

Set Theta angle (Y' rotation angle)

Return Theta angle (Y' rotation angle)

Set Psi angle (X'' rotation angle)

Return Psi angle (X'' rotation angle)

Overload operator * for rotation on a vector

Return inverse of a rotation

Multiplication of an axial rotation by an AxisAngle