a i c i − 1 ′ ; i = 2 , 3 , … , n − 1 {\displaystyle c'_{i}={\begin{cases}{\begin{array}{lcl}{\cfrac {c_{i}}{b_{i}}}&;&i=1\\{\cfrac {c_{i}}{b_{i}-a_{i}c'_{i-1}}}&;&i=2
a y − c y ) + cos θ z ⋅ ( a x − c x ) ) ) − sin θ x ⋅ ( cos θ z ⋅ ( a y − c y ) − sin θ z ⋅ ( a x − c x ) ) {\displaystyle {\begin{array}{lcl}d_{x}&=&\cos