Euler Angle + Distance to XYZ coordinate

Question

Background

I'm familiar with Euler Angles and 3d space systems but I'm having trouble with Rotation Matrices.

Scenario

I've converted my Euler Angle to degrees for Pitch, Roll, and Yaw. Using that vector I'm then moving a distance of 10 from the center (0,0,0) of my 3d space. I'm not able to get my PRY to match my needed XYZ.

note: My xyz space is rotated so Y becomes Z and vice-versa

Question

What rotation matrix do I need to get the following values?

Format: P, R, Y -> (X, Y, Z)

• 0, 0, 0 -> (0, 0, 10) directly below center
• 180, 180, 0 -> (0, 0, -10) directly above center
• 90, 0, 0 -> (0, 10, 0) directly in front of center
• 90, 0, 90 -> (-10, 0, 0) directly left of center

EDIT - Additional Information

• The Euler Angle / Vector is coming from a mobile device, specifically CMAttitude which also contains a rotationMatrix property.
• The 3D space I'm working with is controlled by VES Kiwi

Some 45 degree angles taken from mobile device:

After crunching these numbers it was a lot more difficult than I thought to get the correct values as they would be in 3D. I made a short video clip to better demonstrate what is going on.