使用Eigen旋转带有欧拉角的四元数

I'm trying to create a quaternion, rotate it around Euler-Angles and transform it back to Euler Angles. I am using Eigen. Convert from Euler to Quaternion and vice versa works fine, but when i rotate around using Angle Axis my values are off about 20 - 50%. For example when i try to rotate from 0,0,0 to 90,50,60 i get x: 75,5 y: 103,13, z: 78,46. Any ideas where i take the wrong turn? I use 102/YXZ convention. i tried to implement it like described here: I'm trying to create a quaternion, rotate it ar