Acquisition of rotation angle A, B, C in the world coordinate system

• Hello for all.
I want to obtain the values of X, Y, Z, A, B, C in the WORLD coordinate system.

By making a rotation matrix, I could calculate the X, Y, Z coordinates of the World coordinate system.
{pw} = [T]{pb}
pw : x,y,z coordinate in world coordinate system
T : rotation matrix using A,B,C in base property
pb : x,y,z coordinate in base coordinate system

However, I am in trouble because I can not calculate A,B,C in world coordinate system.

Does anyone have ideas ?
I am thankful for any suggestions.

• Hi Fubini

I was misunderstanding. The problem was solved by changing the above equation as follows.

[Tw] = [Tb][Tp]

where
Tb : Transformation matrix(4x4) using X,Y,Z,A,B,C in base property
Tp : Transformation matrix(4x4) using \$POS_ACT value
Tw : The fourth column of this matrix represents X, Y, Z in the World coordinate system, and A, B, C in the World coordinate system can be calculated from the components of the rotation matrix.