`Rotation::euler_angles` returns angles in wrong order

The documentation of `Rotation::euler_angles` says:

> The angles are produced in the form (roll, pitch, yaw).

But the code returns `(roll, yaw, pitch)`:

https://github.com/dimforge/nalgebra/blob/2f1f4414e23f64edab4a51961898986df18bec8f/src/geometry/rotation_specialization.rs#L960-L965

Maybe the variables are just named incorrectly (haven't checked the math), but something does look wrong here.

Read src/geometry/rotation_specialization.rs around lines 960-965 and inspect Rotation::euler_angles first. Verify the mathematical convention used for roll, pitch, and yaw against the documented tuple order. Done means the implementation and documentation agree on the returned order, with the relevant rotation behavior checked.

Written by the indexing model from the issue text.