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(* Modified for LPM/6 *)(axis, ref_direction : direction) : LIST [3:3] OF direction;
LOCAL
d1, d2 : direction;
END_LOCAL;
d1 := NVL(normalise(axis), dummy_gri || direction([0.0,0.0,1.0]));
d2 := first_proj_axis(d1, ref_direction);
RETURN([d2, normalise(cross_product(d1,d2)).orientation, d1]);
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