pitch = pi/2.0;
roll = 0.0;
yaw = 0.0;

pos = [1 0 0];

M = [   cos(yaw)*cos(pitch)                                 sin(yaw)*cos(pitch)                                 -sin(pitch); ...
        cos(yaw)*sin(pitch)*sin(roll)-sin(yaw)*cos(roll)    sin(yaw)*sin(pitch)*sin(roll)+cos(yaw)*cos(roll)    cos(pitch)*sin(roll); ...
        cos(yaw)*sin(pitch)*cos(roll)-sin(yaw)*sin(roll)    sin(yaw)*sin(pitch)*cos(roll)+cos(yaw)*sin(roll)    cos(pitch)*cos(roll)];
    
rotPos = pos*M        