Esempio

> Rotx:=t->matrix(4,4,[[1,0,0,0],[0,cos(t),sin(t),0],[0,-sin(t),cos(t),0],[0,0,0,1]]):

> Roty:=t->matrix(4,4,[[cos(t),0,-sin(t),0],[0,1,0,0],[sin(t),0,cos(t),0],[0,0,0,1]]):

> Rotz:=t->matrix(4,4,[[cos(t),sin(t),0,0],[-sin(t),cos(t),0,0],[0,0,1,0],[0,0,0,1]]):

> Rotx(Pi/3);Roty(Pi);Rotz(Pi/4);

>