#!/usr/bin/perl

use warnings;
use strict;

use Math::SO3;

my $rotation=Math::SO3->new("zr" => 3.14159/2, 
                           "xr" => 3.14159/4, 
                           "zr" => 3.14159/8);                          

my @arr = (23, 34, 45);
my @result = $rotation * @arr;

for (@result) {
    print "\t $_ \n";
}