eus$ pi 3.14159 eus$ (/ pi 6) 0.523599 ;;; eus$ (setq r0 (rotation-matrix (/ pi 6) :x)) #2f((1.0 0.0 0.0) (0.0 0.866025 -0.5) (0.0 0.5 0.866025)) eus$ (matrix-row r0 0) #f(1.0 0.0 0.0) eus$ (matrix-row r0 1) #f(0.0 0.866025 -0.5) eus$ (matrix-column r0 2) #f(0.0 -0.5 0.866025) ;;; eus$ (setq r (unit-matrix 3)) #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)) eus$ (setq r1 (rotate-matrix r (/ pi 6) :x)) #2f((1.0 0.0 0.0) (0.0 0.866025 -0.5) (0.0 0.5 0.866025)) ;;; eus$ (rpy-angle r1) ((0.0 0.0 0.523599) (3.14159 -3.14159 -2.61799)) eus$ (rotation-angle r1) (0.523599 #f(1.0 0.0 0.0)) ;;; eus$ (setq r2 (euler-matrix (/ pi 6) 0 0)) #2f((0.866025 -0.5 0.0) (0.5 0.866025 0.0) (0.0 0.0 1.0)) eus$ (euler-angle r2) ((0.0 0.0 0.523599) (3.14159 0.0 -2.61799)) eus$ (rotation-angle r2) (0.523599 #f(0.0 0.0 1.0)) eus$ (rpy-angle r2) ((0.523599 0.0 0.0) (3.66519 -3.14159 3.14159))LU分解などの関数などもある.