There are two references frames, A and B.
Let A's reference frame be denoted by the columns of the identity matrix, and let A's origin be (0,0,0).
Let B's reference frame and origin be denoted by a transformation matrix T, where T =
R11 R12 R13 x
R21 R22 R23 y
R31 R32 R33 z
0 0 0 1...