def r_z(psi, r = Const::R_UNIT)
      r_a = Array.new

      begin
        s, c = Math.sin(psi), Math.cos(psi)
        a00 =   c * r[0][0] + s * r[1][0];
        a01 =   c * r[0][1] + s * r[1][1];
        a02 =   c * r[0][2] + s * r[1][2];
        a10 = - s * r[0][0] + c * r[1][0];
        a11 = - s * r[0][1] + c * r[1][1];
        a12 = - s * r[0][2] + c * r[1][2];
        r_a << [a00, a01, a02]
        r_a << [a10, a11, a12]
        r_a << r[2]
        return r_a
      rescue => e
        raise
      end
    end
def r_z(psi, r = Const::R_UNIT)
      r_a = Array.new

      begin
        s, c = Math.sin(psi), Math.cos(psi)
        a00 =   c * r[0][0] + s * r[1][0];
        a01 =   c * r[0][1] + s * r[1][1];
        a02 =   c * r[0][2] + s * r[1][2];
        a10 = - s * r[0][0] + c * r[1][0];
        a11 = - s * r[0][1] + c * r[1][1];
        a12 = - s * r[0][2] + c * r[1][2];
        r_a << [a00, a01, a02]
        r_a << [a10, a11, a12]
        r_a << r[2]
        return r_a
      rescue => e
        raise
      end
    end
=========================================================================
 回転行列（z 軸中心）

 @param:  psi  (回転量(rad))
 @param:  r    (回転行列)
 @return: r_a  (回転後)
=========================================================================