[irtgeo.l] enable :rotation-axis :xy :yz :zx :yx :zy :xz#568

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Naoki-Hiraoka wants to merge 4 commits intoeuslisp:masterfrom

Naoki-Hiraoka:enable-dual-rotation-axis

Commits on May 24, 2020

[irtgeo.l] enable :rotation-axis :xy :yz :zx :yx :zy :xz
Naoki-Hiraoka
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Commits on May 25, 2020

[irtgeo.l] fix documentation of :difference-position and :difference-rotation
Naoki-Hiraoka
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[iregeo.l :difference-rotation] use let, and fix 0 norm condition
Naoki-Hiraoka
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Commits on May 26, 2020

[doc/irtmodel.tex]add document for translation/rotation-axis
Naoki-Hiraoka
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