Allen-Bradley 1756-HYD02 User Manual page 121

Geometries with orientation support Chapter 4
Transform
It turns out that the transform specification for point can also represent transform
that can be used to transform any point in the reference coordinate system to the
target coordinate system. And so the transform T to transform points from
reference frame {A} to target frame {B} is given by the following matrix equation.
The transformation can be used to convert a point with respect to reference frame
{A} to reference frame {B} using the following matrix equation.
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Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018