public RotationMatrix rotateAroundLocalAxes(EulerAngles angles) {

		double[][] transform = HoneyBee.createTransformForRotation(this.matrix);

		double[][] rotated = HoneyBee.rotateAroundLocalAxes(transform,
				angles.getXAngle(), angles.getYAngle(), angles.getZAngle());

		double[][] rotation = HoneyBee.getRotationFromTransform(rotated);

		return new RotationMatrix(rotation, true);

	}