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Mathematics of Rigid Body Transformationss using Coq and MathComp

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There is an instance of nsatz with rcfType in https://github.com/affeldt-aist/coq-robot/blob/master/ssr_ext.v Similarly, there is an instance of nsatz with realType in https://github.com/math-comp/analysis/pull/383 Should the rcfType instance of nsatz move in Analysis...

https://github.com/affeldt-aist/coq-robot/blob/ce7c75a7a2a990c446735299ad9ca04e8f621ebd/ssr_ext.v#L116-L121 this requires to first declare a numDomainType structure for matrices