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matrix.py
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matrix.py
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c1c2c3-s1s2c3 -c1c2s3+s1s2s3 -c1s2-s1c2 l2(c1c2c3-s1s2c3)
s1c2c3+c1s2c3 -s1c2s3-c1s2s3 -s1s2+c1c2 l2(s1c2c3+c1s2c3)
-s3 -c3 0 -l2s3+l1
0 0 0 1
c1c2c3c4-s1s2c3c4-c1c2s3s4+s1s2s3s4 -c1c2c3s4+s1s2c3s4-c1c2s3c4+s1s2s3c4 -c1s2-s1c2 l3(c1c2c3c4-s1s2c3c4-c1c2s3s4+s1s2s3s4)+l2(c1c2c3-s1s2c3)
s1c2c3c4+c1s2c3c4-s1c2s3s4-c1s2s3s4 -s1c2c3s4-c1s2c3s4-s1c2s3c4-c1s2s3c4 -s1s2+c1c2 l3(s1c2c3c4+c1s2c3c4-s1c2s3s4-c1s2s3s4)+l2(s1c2c3+c1s2c3)
-s3c4-c3s4 s3s4-c3c4 0 l3(-s3c4-c3s4)-l2s3+l1
0 0 0 1
[1, 1] a1: (c1c2c3c4-s1s2c3c4-c1c2s3s4+s1s2s3s4)c5+(-c1c2c3s4+s1s2c3s4-c1c2s3c4+s1s2s3c4)s5
[1, 2] a2: -c1s2-s1c2
[1, 3] a3: (c1c2c3c4-s1s2c3c4-c1c2s3s4+s1s2s3s4)s5-(-c1c2c3s4+s1s2c3s4-c1c2s3c4+s1s2s3c4)c5
[1, 4] a4: l4(-c1s2-s1c2)+l3(c1c2c3c4-s1s2c3c4-c1c2s3s4+s1s2s3s4)+l2(c1c2c3-s1s2c3)
[2, 1] b1: (s1c2c3c4+c1s2c3c4-s1c2s3s4-c1s2s3s4)c5+(-s1c2c3s4-c1s2c3s4-s1c2s3c4-c1s2s3c4)s5
[2, 2] b2: -s1s2+c1c2
[2, 3] b3: (s1c2c3c4+c1s2c3c4-s1c2s3s4-c1s2s3s)s5-(-s1c2c3s4-c1s2c3s4-s1c2s3c4-c1s2s3c4)c5
[2, 4] b4: l4(-s1s2+c1c2)+l3(s1c2c3c4+c1s2c3c4-s1c2s3s4-c1s2s3s4)+l2(s1c2c3+c1s2c3)
[3, 1] c1: (-s3c4-c3s4)c5+(s3s4-c3c4)s5
[3, 2] c2: 0
[3, 3] c3: (-s3c4-c3s4)s5-(s3s4-c3c4)c5
[3, 4] c4: l3(-s3c4-c3s4)-l2s3+l1
a1c6+a2s6 -a3 -a1s6+a2c6 a1l5c6+a2l5s6+a4
b1c6+b2s6 -b3 -b1s6+b2c6 b1l5c6+b2l5s6+b4
c1c6+a2s6 -c3 -c1s6+c2c6 c1l5c6+c2l5s6+c4
0 0 0 1