3D rotation matrix

I'm trying to understand how to do 3D rotations on a vector in 3-space. I know so far that a rotation matrix can be computed by multiplying Heading Pitch and Roll together.

H= cos a      -sin a      0
      sin a    cos a      0
           0          0        1

P= cos b         0    sin b
           0         1        0
     -sin b         0  cos b

R=    1          0        0
        0     cos c  -sin c
        0    -sin c   cos c

I have these for the functions. are these right and if so, can I get an example of how to get the rotation matrix?

Thanks in advance.
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