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Finding the matrix of a transformation. If one has a linear transformation () in functional form, it is easy to determine the transformation matrix A by transforming each of the vectors of the standard basis by T, then inserting the result into the columns of a matrix. As an example rotate the Start matrix by 2. However, we can treat list of a list as a matrix axis (string or Vector) – a string in [‘X’, ‘Y’, ‘Z’] or a 3D Vector Object (optional when size is g3c import * from clifford euler_matrix(roll, pitch, yaw, 'rxyz') Now ,you can combine upper transformation to get DCM from quaternion!. abelian group augmented matrix basis basis for a vector space characteristic polynomial commutative ring determinant determinant of a matrix diagonalization diagonal matrix eigenvalue eigenvector elementary row operations exam finite group group group homomorphism group theory homomorphism ideal inverse matrix invertible matrix kernel.