/usr/lib/open-axiom/input/kuipers.input is in open-axiom-test 1.4.1+svn~2626-2ubuntu2.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 | R1:=matrix([[cos a, sin a, 0],[-sin a, cos a, 0],[0, 0, 1]])
R2:=matrix([[cos b, 0, -sin b],[0, 1, 0],[sin b, 0, cos b]])
R:=R2*R1
V:=matrix([[x1],[y1],[z1]])
E:=R*V=V
F:=lhs(E)-rhs(E)
G:=F=matrix([[0],[0],[0]])
H:=elt(F,2,1)
x1:=k
J:=subst(H,'x1=k)
L:=solve(J,y1)
y1:=rhs(first(solve(J,y1)))
H1:=elt(F,3,1)
J1:=subst(H1,['x1=x1, 'y1=y1])
z1:=simplify(rhs(first(solve(J1,z1))))
[x1,y1,z1]
y1:=eval(y1,[k=-1])
z1:=eval(z1,[k=-1])
[x1,y1,z1]
RSQ:SQMATRIX(3,EXPR(INT)):=R
TR:=trace(RSQ)
TREQ:=TR=1+2*cos(c)
c:=rhs(first(solve(TREQ,c)))
x1v:=eval(x1,k=-1)
y1v:=numeric(eval(y1,[a=%pi/6]))
z1v:=numeric(eval(z1,[k=-1,b=%pi/3]))
[x1v, y1v, z1v]
c1v:=numeric(eval(c,[a=%pi/6,b=%pi/3]))
c1v*180/%pi
rv:=eval(R,[a=%pi/6,b=%pi/3])
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