Rotator code is totally incorrect

**Description**
Roll, pitch and yaw do not constitute a vector. In practice it means that:
* When you add, subtract, multiply, interpolate, normalize orientations as vectors, you get meaningless quantities
* The (roll, pitch, yaw) triad does not define the rotation axis direction
* The final orientation depends on the order in which the roll, pitch and yaw rotations are applied
* There are orientations that are not representable by roll, pitch and yaw

You have to do one of the following:
* Treat roll, pitch and yaw as separate scalars that obey the Euler equations
* Represent orientation by a 3 x 3 rotation matrix
* Represent orientation by a quaternion

Options 2 and 3 imply that roll, pitch and yaw, if needed, are computed by request and never used for intermediate computations.

The issue does not name an implementation file, test, or entry point. Start by locating the Rotator implementation and its orientation operations, then determine which representation the project should use; done means orientation composition and related operations no longer treat roll, pitch, and yaw as a vector.

Written by the indexing model from the issue text.