3 f Y ??? = T 12 X + T 22 Y + T 32 f T 13 X + T 23 Y + T 33 f ( 6 ) wherein Tij is expressed as follows, k ( T 11 T 12 T 13 T 21 T 22 T 23 T 31 T 32 T 33 ) = r ( R 11 R 12 R 13 R 21 R 22 R 23 R 31 R 32 R 33 ) + ( p q - 1 ) ( a , b , c ) ( R 11 R 12 R 13 R 21 R 22 R 23 R 31 R 32 R 33 ) ( 7 ) wherein k is a constant.