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JoelSjogren Jan 20th, 2018 84 Never
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  1. T =
  2. [ a  0  0 -h  0 -l]
  3. [-b  0  0  0  j  l]
  4. [ 0  c  0 -g -j  0]
  5. [ 0 -d  0  g  0  k]
  6. [ 0  0  e  0 -i -k]
  7. [ 0  0 -f  h  i  0]
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