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where rotation matrix is a product of three rotations around appropriate axes, for example rotation in X-Y plane around Z is
/ cosT -sinT 0 \
Rz(T) = | sinT cosT 0 0 |
\ 0 0 1 /
...
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where rotation matrix is a product of three rotations around appropriate axes, for example rotation in X-Y plane around Z is
/ cosT -sinT 0 \
Rz(T) = | sinT cosT 0 0 |
\ 0 0 1 /
...