This function requires the euler angles e and also their derivative ed.\\
\begin{equation}
\ra{r} = \begin{pmatrix} p\\q\\r \end{pmatrix} = 
\eye \multiplication \eye \multiplication\begin{pmatrix} \dot{\Roll}\\0\\0 \end{pmatrix} + 
\mat R(\Roll)\multiplication \eye \multiplication\begin{pmatrix} 0\\\dot{\Pitch}\\0 \end{pmatrix} + 
\mat R(\Roll)\multiplication \mat R(\Pitch)\multiplication \begin{pmatrix} 0\\0\\\dot{\Yaw} \end{pmatrix}
\end{equation}
\begin{equation}
\mat R(\Roll) = \begin{pmatrix}
1 & 0         &     0      \\
0 & cos(\Roll) & -sin(\Roll) \\
0 & sin(\Roll) &  cos(\Roll) 
\end{pmatrix}
\end{equation}
\begin{equation}
\mat R(\Pitch) = \begin{pmatrix}
 cos(\Pitch) & 0 & sin(\Pitch) \\
 0         & 1 &     0     \\
-sin(\Pitch) & 0 & cos(\Pitch) 
\end{pmatrix}
\end{equation}
\begin{equation}
\ra r = \begin{pmatrix} p\\q\\r \end{pmatrix} = 
\begin{pmatrix}
- \sin (\Roll) \dot{\Yaw} + \dot{\Roll} \\
\sin (\Roll) \cos (\Pitch) \dot{\Yaw} + \cos (\Roll) \dot{\Pitch} \\
\cos (\Roll) \cos (\Pitch) \dot{\Yaw} - \sin (\Roll) \dot{\Pitch} \\
\end{pmatrix}
\end{equation}
\inHfile{INT32\_RATES\_OF\_EULERS\_DOT(r, e, ed)}{pprz\_algebra\_int}
\inHfile{INT32\_RATES\_OF\_EULERS\_DOT\_321(r, e, ed)}{pprz\_algebra\_int}