#!/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
);

print $rotation->format_matrix("%16.8f");