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  1. or download this
    {package PDL::3Space;
use PDL;
...
sub origin_move { $_[0]{origin_local} += $_[1] }
sub local { my $local = PDL::3Space->new; $local->{$_} .= $_[0]{$_} fo
+r qw(basis_local origin_local); $local}
}
  2. or download this
    $rot_90_about_z = PDL->pdl([0,1,0], [-1,0,0], [0,0,1]);

...
#  [ 0  0  2]
#  [-2  2  2]
# ]