Euler

Gimbal lock

Gimbal lock is a loss of one degree of freedom (DOF) in a 3D rotation system due to the alignment of two rotational axes.
For example when PITCH is ±90° the YAW and ROLL axes rotate around the YAW and we loss on degree of freedom

Euler Angles Gimbal Visualization

colors

roll (x) - blue pitch (y) - green yaw (z) - green

rotate pitch 90 degree make roll and yaw rotation to the same direction

Rotation Order

Euler (XYZ)

RPY