→

mx x == [[1,0,0],[0,cos(x),- sin(x)],[0,sin(x),cos(x)]]

Type: Void
→

my x == [[cos(x),0,sin(x)],[0,1,0],[- sin(x),0,cos(x)]]

Type: Void
→

mz x == [[cos(x),- sin(x),0],[sin(x),cos(x),0],[0,0,1]]

Type: Void
→

mx(c)*mz(b)*mx(a)

[
cos (b) - cos (a)sin (b) sin (a)sin (b)
cos (c)sin (b) - sin (a)sin (c) + cos(a)cos (b)cos (c) - cos (a)sin (c) - cos (b)cos (c)sin (a)
sin (b)sin (c) cos (a)cos (b)sin (c) + cos(c)sin (a) - cos (b)sin (a)sin (c) + cos(a)cos (c)
]
(5)
Type: Matrix Expression Integer
→

mx(c)*my(b)*mx(a)

[
cos (b) sin (a)sin (b) cos (a)sin (b)
sin (b)sin (c) - cos (b)sin (a)sin (c) + cos(a)cos (c) - cos (a)cos (b)sin (c) - cos (c)sin (a)
- cos (c)sin (b) cos (a)sin (c) + cos(b)cos (c)sin (a) - sin (a)sin (c) + cos(a)cos (b)cos (c)
]
(7)
Type: Matrix Expression Integer
→

my(c)*mx(b)*my(a)

[
- cos (b)sin (a)sin (c) + cos(a)cos (c) sin (b)sin (c) cos (a)cos (b)sin (c) + cos(c)sin (a)
sin (a)sin (b) cos (b) - cos (a)sin (b)
- cos (a)sin (c) - cos (b)cos (c)sin (a) cos (c)sin (b) - sin (a)sin (c) + cos(a)cos (b)cos (c)
]
(11)
Type: Matrix Expression Integer
→

my(c)*mz(b)*my(a)

[
- sin (a)sin (c) + cos(a)cos (b)cos (c) - cos (c)sin (b) cos (a)sin (c) + cos(b)cos (c)sin (a)
cos (a)sin (b) cos (b) sin (a)sin (b)
- cos (a)cos (b)sin (c) - cos (c)sin (a) sin (b)sin (c) - cos (b)sin (a)sin (c) + cos(a)cos (c)
]
(12)
Type: Matrix Expression Integer
→

mz(c)*my(b)*mz(a)

[
- sin (a)sin (c) + cos(a)cos (b)cos (c) - cos (a)sin (c) - cos (b)cos (c)sin (a) cos (c)sin (b)
cos (a)cos (b)sin (c) + cos(c)sin (a) - cos (b)sin (a)sin (c) + cos(a)cos (c) sin (b)sin (c)
- cos (a)sin (b) sin (a)sin (b) cos (b)
]
(14)
Type: Matrix Expression Integer
→

mz(c)*mx(b)*mz(a)

[
- cos (b)sin (a)sin (c) + cos(a)cos (c) - cos (a)cos (b)sin (c) - cos (c)sin (a) sin (b)sin (c)
cos (a)sin (c) + cos(b)cos (c)sin (a) - sin (a)sin (c) + cos(a)cos (b)cos (c) - cos (c)sin (b)
sin (a)sin (b) cos (a)sin (b) cos (b)
]
(15)
Type: Matrix Expression Integer
→

my(c)*mz(b)*mx(a)

[
cos (b)cos (c) sin (a)sin (c) - cos (a)cos (c)sin (b) cos (a)sin (c) + cos(c)sin (a)sin (b)
sin (b) cos (a)cos (b) - cos (b)sin (a)
- cos (b)sin (c) cos (a)sin (b)sin (c) + cos(c)sin (a) - sin (a)sin (b)sin (c) + cos(a)cos (c)
]
(16)
Type: Matrix Expression Integer
→

mz(c)*my(b)*mx(a)

[
cos (b)cos (c) - cos (a)sin (c) + cos(c)sin (a)sin (b) sin (a)sin (c) + cos(a)cos (c)sin (b)
cos (b)sin (c) sin (a)sin (b)sin (c) + cos(a)cos (c) cos (a)sin (b)sin (c) - cos (c)sin (a)
- sin (b) cos (b)sin (a) cos (a)cos (b)
]
(17)
Type: Matrix Expression Integer
→

mz(c)*mx(b)*my(a)

[
- sin (a)sin (b)sin (c) + cos(a)cos (c) - cos (b)sin (c) cos (a)sin (b)sin (c) + cos(c)sin (a)
cos (a)sin (c) + cos(c)sin (a)sin (b) cos (b)cos (c) sin (a)sin (c) - cos (a)cos (c)sin (b)
- cos (b)sin (a) sin (b) cos (a)cos (b)
]
(18)
Type: Matrix Expression Integer
→

mx(c)*mz(b)*my(a)

[
cos (a)cos (b) - sin (b) cos (b)sin (a)
sin (a)sin (c) + cos(a)cos (c)sin (b) cos (b)cos (c) - cos (a)sin (c) + cos(c)sin (a)sin (b)
cos (a)sin (b)sin (c) - cos (c)sin (a) cos (b)sin (c) sin (a)sin (b)sin (c) + cos(a)cos (c)
]
(19)
Type: Matrix Expression Integer
→

mx(c)*my(b)*mz(a)

[
cos (a)cos (b) - cos (b)sin (a) sin (b)
cos (a)sin (b)sin (c) + cos(c)sin (a) - sin (a)sin (b)sin (c) + cos(a)cos (c) - cos (b)sin (c)
sin (a)sin (c) - cos (a)cos (c)sin (b) cos (a)sin (c) + cos(c)sin (a)sin (b) cos (b)cos (c)
]
(20)
Type: Matrix Expression Integer
→

my(c)*mx(b)*mz(a)

[
sin (a)sin (b)sin (c) + cos(a)cos (c) cos (a)sin (b)sin (c) - cos (c)sin (a) cos (b)sin (c)
cos (b)sin (a) cos (a)cos (b) - sin (b)
- cos (a)sin (c) + cos(c)sin (a)sin (b) sin (a)sin (c) + cos(a)cos (c)sin (b) cos (b)cos (c)
]
(21)
Type: Matrix Expression Integer
→