Equation Icon  √ ---- √ ---- √---- √ ---- ˆbW = − RW ˆaW + TW ˆcW , dˆW = TW ˆaW + RW ˆcW , ˆ √ --- √ --- ˆ √ --- √ ---- (330 ) bS = − RS ˆaS + TSˆcS, dS = TSˆaS + RW ˆcS,