led_Input</a></h4>
<PRE>
   m1         is an arbitrary 3x3 double precision matrix.
              typically, m1 will be a rotation matrix since
              then its transpose is its inverse (but this is NOT
              a requirement).

   vin        is an arbitrary 3-dimensional double precision
              vector.
</PRE>
<h4><a name="Detailed_Output">Detailed_Output</a></h4>
<PRE>
   vout       is a 3-dimensional double precision vector. vout is
              the product vout = (m1**t)  x (vin). vout