. "Here, R is a 4???4 matrix, where RBA describes the attitude of an object B in a given coordinate system A. In other words, this matrix is a coordinate conversion matrix for converting from a coordinate system A to a coordinate system B that an object B defines, and defines the conversion formula PB=RBAPA that converts the coordinates PA=(XA, YA, ZA, 1)T in coordinate system A to coordinates PB=(XB" . . . .