🚀 go-pugleaf

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In article <HIRO.93Mar17190059@sg340v.yokogawa.co.jp> hiro@oslab.yokogawa.co.jp (Hiroshi Kubo) writes:
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>  Q=(cos($@&B(J/2), sin($@&B(J/2)vK)  ---------------(1)
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>  Rot(vU,Q)= Q'*(0,vU)*Q    ----------------(2)
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