2.16 [22] A vector must be mapped through three rotation matrices: A 1 - A B BI CI C D DA One choice is to first multiply the three rotation matrices together, to form AR in the expression AP = AR DP. Another choice is to transform the vector through the matrices one at a timethat is, AP = AR ER OR DP, AP = AR BR CP, AP = AR BP, AP-AP. If PP is changing at 100 Hz, we would have to recalculate AP at the same rate. However, the three rotation matrices are also changing, as reported by a vision system that gives us new values for BR, BR, and OR at 30 Hz. What is the best way to organize the computation to minimize the calculation effort (multiplications and additions)?