$($a$)$ The frame attached to the GPS receiver is denoted as $\{G\},$ the frame of "Cam $1"$

indicated in figure is denoted as $\{C1\},$ and the frame of Velodyne laser scanner

is denoted as $\{L\}.$ The position of the GPS sensor is defined with respect to a

fixed world frame $\{W\}$ as ${?}^W{p}_{WG}={\left[\begin{array}{ccc}a& b& 0\mathrm{.}93\end{array}\right]}^{T}m.$ The orientation of the GPS

receiver is defined to have a yaw of $$ degrees. Find the transformation matrices

${?}^G{T}_L,{?}^G{T}_{C0},$ and ${?}^W{T}_G.$