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The transformation matrix TM is stored:
Coordinate System:
The coordinate system is
right hand rule. X cross Y gives Z and Roll is right
hand rule about X, Pitch is right hand rule about Y, and
Yaw is right hand rule about Z.
Vector Storage:
All linear three vectors store their values as [X, Y,
Z].
All angular three vectors store their values as [Roll,
Pitch, Yaw].
The Vector is pre-multiplied by TM to generate the
output vector. Typically this component is used to
transfer a vector from local to global coordinates.
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