'Body orientation takes this coordinate system through three
successive simple rotations.
Body fixed rotations include both Euler Angles and
Tait-Bryan Angles, see http://en.wikipedia.org/wiki/Euler_angles.
Parameters
angle1, angle2, angle3 : Expr
Three successive angles to rotate the coordinate system by
rotation_order : string
String defining the order of axes for rotation
Examples
>>> from sympy.vector import CoordSys3D, BodyOrienter
>>> from sympy import symbols
>>> q1, q2, q3 = symbols(\'q1 q2 q3\')
>>> N = CoordSys3D(\'N\')
A \'Body\' fixed rotation is described by three angles and
three body-fixed rotation axes. To orient a coordinate system D
with respect to N, each sequential rotation is always about
the orthogonal unit vectors fixed to D. For example, a \'123\'
rotation will specify rotations about N.i, then D.j, then
D.k. (Initially, D.i is same as N.i)
Therefore,
>>> body_orienter = BodyOrienter(q1, q2, q3, \'123\')
>>> D = N.orient_new(\'D\', (body_orienter, ))
is same as
>>> from sympy.vector import AxisOrienter
>>> axis_orienter1 = AxisOrienter(q1, N.i)
>>> D = N.orient_new(\'D\', (axis_orienter1, ))
>>> axis_orienter2 = AxisOrienter(q2, D.j)
>>> D = D.orient_new(\'D\', (axis_orienter2, ))
>>> axis_orienter3 = AxisOrienter(q3, D.k)
>>> D = D.orient_new(\'D\', (axis_orienter3, ))
Acceptable rotation orders are of length 3, expressed in XYZ or
123, and cannot have a rotation about about an axis twice in a row.
>>> body_orienter1 = BodyOrienter(q1, q2, q3, \'123\')
>>> body_orienter2 = BodyOrienter(q1, q2, 0, \'ZXZ\')
>>> body_orienter3 = BodyOrienter(0, 0, 0, \'XYX\')'

def __init__(self, angle1, angle2, angle3, rot_order):

    pass
