Gives the derivation of the various matrices used in the SR real-time models to convert from sensor signals to local Euler coordinates (LTVRPY) and back to actuator signals.
-v2 Renumbered all the LVDTs, geophones etc as 1-3 instead of #0-#2.
-v3 Improved PI geometry from JGW-D1707077 with separate angles for LVDT sensing and actuation.