M7R0 I&kappaf*6#%"cG6"6$%)operatorG%&arrowGF&-%(unapplyG6$-%)simplifyG6#*&-_%'linalg G%(dotprodG6$-_F3%*crossprodG6$-%%diffG6$-9$6#%"tGF@-F;6%F=F@F@F6#"""""#-F26$F: F:#!"$FEF@F&F&F&F&, I$tauf*F$F&F'F&-F+6$-F.6#*&-_F3%$detG6#-%'matrixG6#7%F:FA-F;6&F=F@F@F@FD-%'fact orG6#F1!""F@F&F&F&F&, I%tangf*F$F&F'F&-%$mapG6%F+-_F3%*scalarmulG6$F:-F.6$*$FF#FhnFE/%'assumeG%)posit iveGF@F&F&F&F&, I(normalvf*F$F&F'F&-F\o6%F+-F\o6$F.-F76$--%&binorG6#F>F?--FinFdpF?F@F&F&F&F&, I&binorf*F$F&F'F&-F\o6%F+-F\o6%F.-F_o6$F6*$F1FeoFfoF@F&F&F&F&