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clear; clc; close all;
PBA=[6 3 -4]';%Distance between origin
RBA=[cos(pi/4) -sin(pi/4) 0;sin(pi/4) cos(pi/4) 0;0 0 1];%Rotation matrix
TBA=[RBA PBA;0 0 0 1];%Transformation matrix
FB=[1 7 3]'; VB=[FB; 1];%Free vector FB
VA=TBA*VB; FA=VA(1:3);%Free vector FA...

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