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I have a rotated frame (new matrix, T(x,y, z)) and the original frame (old matrix T(X,Y,Z)). I want to use this formula to find the Rotation matrix:

T(x,y, z) = R-1 T(X,Y,Z) R

Is this eqation right? how can I calculate R (rotation matrix) in ZYZ order in this equation?

Thank You

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# Finding rotation matrix with given new and old frame

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