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4. Prologue to

Here we present the actual code to the module. This is an example of lightweight literate programming. The development methodology is Cleanroom; the comments within [ square brackets ] are Cleanroom intended functions, a semi-formal declaration of the intended semantics of each section of the code.

The module starts with a documentation block that points back here.
''' Homogeneous coordinates with transformations.

  Do not modify this file.  It is generated automatically from
  the documentation, here: