class ZTrans: public HTrans<Double32_t>

 ZTrans

 ZTrans is a 4x4 transformation matrix for homogeneous coordinates
 stored internaly in a column-major order to allow direct usage by
 GL. The element type is Double32_t as statically the floats would
 be precise enough but continuous operations on the matrix must
 retain precision of column vectors.

 Cartan angles in mA[1-3] (+z, -y, +x) are stored for backward
 compatibility and will probably be removed soon.

 Direct  element access (first two should be used with care):
 operator[i]    direct access to elements,   i:0->15
 CM(i,j)        element 4*j + i;           i,j:0->3    { CM ~ c-matrix }
 operator(i,j)  element 4*(j-1) + i - 1    i,j:1->4

 Column-vector access:
 USet Get/SetBaseVec(), Get/SetPos() and Arr[XYZT]() methods.

 For all methods taking the matrix indices:
 1->X, 2->Y, 3->Z; 4->Position (if applicable). 0 reserved for time.

 Shorthands in method-names:
 LF ~ LocalFrame; PF ~ ParentFrame; IP ~ InPlace