9f900b6
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+3 0ars/lib/pydispatch/dispatcher.py

+3 0ars/lib/pydispatch/saferef.py

+4 4ars/utils/geometry.py

+1 1ars/utils/mathematical.py
ars/lib/pydispatch/dispatcher.py
ars/lib/pydispatch/saferef.py
ars/utils/geometry.py
+ http://en.wikipedia.org/wiki/Rotation_representation_(mathematics)%23Rotation_matrix_.E2.86.94_Euler_angles