--> R
ans =
0.8660 -0.5000 0
0.5000 0.8660 0
0 0 1.0000
--> T
ans =
1.0000 0 0.5000
0 1.0000 0
0 0 1.0000
--> R*T
ans =
0.8660 -0.5000 0.4330
0.5000 0.8660 0.2500
0 0 1.0000
--> transpose(T)*transpose(R)
ans =
0.8660 0.5000 0
-0.5000 0.8660 0
0.4330 0.2500 1.0000