Hi, I want to calculate the coordinates of an object after a particular translation. I have the 3D coordinates at the origin: x0,y0,z0 and i have the 3x3 rotation matrix: (r11, r12, r13; r21, r22, r23; r31, r32, r33) If I want to move 3 units forward, in the direction i am facing and two units directly downwards with the z plane, how would I do this using my starting coords and the rotation matrix? If it matters, the reason why I want to do this is that I have a magnetic tracker (minibird) and I have the sensor mounted on an object - I want to be able to calculate the coordinates of the edges of the object. I know this is a trivial question, but I am not having much luck with my limited linear algebra knowledge... Many thanks for any help.