diff -Nru zeo-1.0.1+1~ubuntu14.04.1/config zeo-1.0.1+2~ubuntu14.04.1/config
--- zeo-1.0.1+1~ubuntu14.04.1/config	2016-01-12 05:24:36.000000000 +0000
+++ zeo-1.0.1+2~ubuntu14.04.1/config	2016-02-26 03:36:11.000000000 +0000
@@ -1,7 +1,7 @@
 # dependency
 # CURE-1.0.0-beta5
-# ZM-1.0.0
+# ZM-1.0.0a
 
 PREFIX=$(DESTDIR)/usr
 PROJNAME=zeo
-VERSION=1.0.1
+VERSION=1.0.1a
diff -Nru zeo-1.0.1+1~ubuntu14.04.1/config.org zeo-1.0.1+2~ubuntu14.04.1/config.org
--- zeo-1.0.1+1~ubuntu14.04.1/config.org	2016-01-12 05:24:36.000000000 +0000
+++ zeo-1.0.1+2~ubuntu14.04.1/config.org	2016-02-26 03:36:07.000000000 +0000
@@ -1,7 +1,7 @@
 # dependency
 # CURE-1.0.0-beta5
-# ZM-1.0.0
+# ZM-1.0.0a
 
 PREFIX=$(HOME)/usr
 PROJNAME=zeo
-VERSION=1.0.1
+VERSION=1.0.1a
diff -Nru zeo-1.0.1+1~ubuntu14.04.1/debian/bzr-builder.manifest zeo-1.0.1+2~ubuntu14.04.1/debian/bzr-builder.manifest
--- zeo-1.0.1+1~ubuntu14.04.1/debian/bzr-builder.manifest	2016-01-12 05:24:36.000000000 +0000
+++ zeo-1.0.1+2~ubuntu14.04.1/debian/bzr-builder.manifest	2016-02-26 03:36:07.000000000 +0000
@@ -1,2 +1,2 @@
-# bzr-builder format 0.3 deb-version {debupstream}+1
-lp:~hrg/hrg-packaging/zeo revid:yosuke.matsusaka@gmail.com-20160112045551-9xbrsuokuwqdfnc9
+# bzr-builder format 0.3 deb-version {debupstream}+2
+lp:~hrg/hrg-packaging/zeo revid:f-kanehiro@aist.go.jp-20160226033140-gwgdkhhc5aplnsyd
diff -Nru zeo-1.0.1+1~ubuntu14.04.1/debian/changelog zeo-1.0.1+2~ubuntu14.04.1/debian/changelog
--- zeo-1.0.1+1~ubuntu14.04.1/debian/changelog	2016-01-12 05:24:36.000000000 +0000
+++ zeo-1.0.1+2~ubuntu14.04.1/debian/changelog	2016-02-26 03:36:07.000000000 +0000
@@ -1,8 +1,14 @@
-zeo (1.0.1+1~ubuntu14.04.1) trusty; urgency=low
+zeo (1.0.1+2~ubuntu14.04.1) trusty; urgency=low
 
   * Auto build.
 
- -- Launchpad Package Builder <noreply@launchpad.net>  Tue, 12 Jan 2016 05:24:36 +0000
+ -- Fumio KANEHIRO <f-kanehiro@aist.go.jp>  Fri, 26 Feb 2016 03:36:07 +0000
+
+zeo (1.0.1-1ubuntu1) UNRELEASED; urgency=medium
+
+  * Version 1.0.1a
+
+ -- Fumio KANEHIRO <kanehiro@tetsujin3>  Fri, 26 Feb 2016 12:31:17 +0900
 
 zeo (1.0.1-1) unstable; urgency=low
 
diff -Nru zeo-1.0.1+1~ubuntu14.04.1/include/zeo/zeo_mat6d.h zeo-1.0.1+2~ubuntu14.04.1/include/zeo/zeo_mat6d.h
--- zeo-1.0.1+1~ubuntu14.04.1/include/zeo/zeo_mat6d.h	2016-01-12 05:24:36.000000000 +0000
+++ zeo-1.0.1+2~ubuntu14.04.1/include/zeo/zeo_mat6d.h	2016-02-26 03:36:07.000000000 +0000
@@ -33,6 +33,18 @@
 
 /*! \brief transpose of a 6x6 matrix. */
 __EXPORT zMat6D *zMat6DT(zMat6D *m, zMat6D *mout);
+/*! \brief abstract row/column vectors from a 6x6 matrix.
+ *
+ * zMat6DRow() abstracts the \a i'th row from a 6x6 matrix \a m and puts
+ * it into \a v.
+ *
+ * zMat6DCol() abstracts the \a i'th column from a 6x6 matrix \a m and
+ * puts it into \a v.
+ * \return
+ * zMat6DRow() and zMat6DCol() return a pointer \a v.
+ */
+__EXPORT zVec6D *zMat6DRow(zMat6D *m, int i, zVec6D *v);
+__EXPORT zVec6D *zMat6DCol(zMat6D *m, int i, zVec6D *v);
 
 /*! \brief multiply a 6x1 vector by a 6x6 matrix from the left side.
  * \a vout = \a m \a vin
diff -Nru zeo-1.0.1+1~ubuntu14.04.1/.pc/.quilt_patches zeo-1.0.1+2~ubuntu14.04.1/.pc/.quilt_patches
--- zeo-1.0.1+1~ubuntu14.04.1/.pc/.quilt_patches	2016-01-12 05:24:36.000000000 +0000
+++ zeo-1.0.1+2~ubuntu14.04.1/.pc/.quilt_patches	2016-02-26 03:36:11.000000000 +0000
@@ -1 +1 @@
-/home/buildd/build-RECIPEBRANCHBUILD-1054238/chroot-autobuild/home/buildd/work/tree/zeo-1.0.1+1~ubuntu14.04.1/debian/patches
+/home/buildd/build-RECIPEBRANCHBUILD-1084599/chroot-autobuild/home/buildd/work/tree/zeo-1.0.1+2~ubuntu14.04.1/debian/patches
diff -Nru zeo-1.0.1+1~ubuntu14.04.1/.pc/.quilt_series zeo-1.0.1+2~ubuntu14.04.1/.pc/.quilt_series
--- zeo-1.0.1+1~ubuntu14.04.1/.pc/.quilt_series	2016-01-12 05:24:36.000000000 +0000
+++ zeo-1.0.1+2~ubuntu14.04.1/.pc/.quilt_series	2016-02-26 03:36:11.000000000 +0000
@@ -1 +1 @@
-/home/buildd/build-RECIPEBRANCHBUILD-1054238/chroot-autobuild/home/buildd/work/tree/zeo-1.0.1+1~ubuntu14.04.1/debian/patches/series
+/home/buildd/build-RECIPEBRANCHBUILD-1084599/chroot-autobuild/home/buildd/work/tree/zeo-1.0.1+2~ubuntu14.04.1/debian/patches/series
diff -Nru zeo-1.0.1+1~ubuntu14.04.1/src/zeo_mat3d.c zeo-1.0.1+2~ubuntu14.04.1/src/zeo_mat3d.c
--- zeo-1.0.1+1~ubuntu14.04.1/src/zeo_mat3d.c	2016-01-12 05:24:36.000000000 +0000
+++ zeo-1.0.1+2~ubuntu14.04.1/src/zeo_mat3d.c	2016-02-26 03:36:07.000000000 +0000
@@ -37,17 +37,11 @@
  */
 zMat3D *zMat3DT(zMat3D *m, zMat3D *tm)
 {
-  double tmp;
-
-  if( tm == m ){
-    tmp = tm->e[1][0]; tm->e[1][0] = m->e[0][1]; m->e[0][1] = tmp;
-    tmp = tm->e[2][0]; tm->e[2][0] = m->e[0][2]; m->e[0][2] = tmp;
-    tmp = tm->e[2][1]; tm->e[2][1] = m->e[1][2]; m->e[1][2] = tmp;
-  } else{
-    tm->e[0][0] = m->e[0][0]; tm->e[1][0] = m->e[0][1]; tm->e[2][0] = m->e[0][2];
-    tm->e[0][1] = m->e[1][0]; tm->e[1][1] = m->e[1][1]; tm->e[2][1] = m->e[1][2];
-    tm->e[0][2] = m->e[2][0]; tm->e[1][2] = m->e[2][1]; tm->e[2][2] = m->e[2][2];
-  }
+	zMat3D tmp;
+  tmp.e[0][0] = m->e[0][0]; tmp.e[1][0] = m->e[0][1]; tmp.e[2][0] = m->e[0][2];
+  tmp.e[0][1] = m->e[1][0]; tmp.e[1][1] = m->e[1][1]; tmp.e[2][1] = m->e[1][2];
+  tmp.e[0][2] = m->e[2][0]; tmp.e[1][2] = m->e[2][1]; tmp.e[2][2] = m->e[2][2];
+	zMat3DCopy( &tmp, tm );
   return tm;
 }
 
@@ -681,18 +675,23 @@
 {
   register int i;
   double l, a;
+	zVec3D evec[3];
+	double eval[3];
 
   aa->e[0] = m->e[1][2]-m->e[2][1];
   aa->e[1] = m->e[2][0]-m->e[0][2];
   aa->e[2] = m->e[0][1]-m->e[1][0];
   l = zVec3DNorm( aa );
   a = atan2( l, m->e[0][0]+m->e[1][1]+m->e[2][2]-1 );
-  if( zIsTiny( l ) )
-    for( i=0; i<3; i++ ){
-      zMat3DCol( m, i, aa );
-      aa->e[i] += 1.0;
-      if( !zVec3DIsTiny( aa ) ) break;
-    }
+	if( zIsTiny( l ) ){
+		zMat3DSymEig(m, eval, evec);
+		for( i=0; i<3; i++ ){
+			if( zIsTiny( eval[i] - 1.0 ) ){
+				zVec3DCopy(&evec[i], aa);
+				return zVec3DMulDRC( aa, a );
+			}
+		}
+	}
   return zVec3DMulDRC( aa, a / zVec3DNorm(aa) );
 }
 
diff -Nru zeo-1.0.1+1~ubuntu14.04.1/src/zeo_mat6d.c zeo-1.0.1+2~ubuntu14.04.1/src/zeo_mat6d.c
--- zeo-1.0.1+1~ubuntu14.04.1/src/zeo_mat6d.c	2016-01-12 05:24:36.000000000 +0000
+++ zeo-1.0.1+2~ubuntu14.04.1/src/zeo_mat6d.c	2016-02-26 03:36:07.000000000 +0000
@@ -52,19 +52,84 @@
   return mout;
 }
 
+/* zMat6DRow
+ * - abstract row vector from 6D matrix.
+ */
+zVec6D *zMat6DRow(zMat6D *m, int i, zVec6D *v)
+{
+  int a, b;
+  a = (i/3)*2;
+  b = i%3;
+  v->e[0] = m->m[a  ].e[0][b];
+  v->e[1] = m->m[a  ].e[1][b];
+  v->e[2] = m->m[a  ].e[2][b];
+  v->e[3] = m->m[a+1].e[0][b];
+  v->e[4] = m->m[a+1].e[1][b];
+  v->e[5] = m->m[a+1].e[2][b];
+  return v;
+}
+
+/* zMat6DCol
+ * - abstract column vector from 6D matrix.
+ */
+zVec6D *zMat6DCol(zMat6D *m, int i, zVec6D *v)
+{
+  int a, b;
+  a = i/3;
+  b = i%3;
+  v->e[0] = m->m[  a].e[b][0];
+  v->e[1] = m->m[  a].e[b][1];
+  v->e[2] = m->m[  a].e[b][2];
+  v->e[3] = m->m[2+a].e[b][0];
+  v->e[4] = m->m[2+a].e[b][1];
+  v->e[5] = m->m[2+a].e[b][2];
+  return v;
+}
+
+#define __zVec6DCreate(v,x,y,z,xa,ya,za) do{\
+    double __x, __xa, __y, __ya, __z, __za; \
+  __x = x;\
+  __y = y;\
+  __z = z;\
+  __xa = xa;\
+  __ya = ya;\
+  __za = za;\
+  (v)->e[zX] = __x;\
+  (v)->e[zY] = __y;\
+  (v)->e[zZ] = __z;\
+  (v)->e[zXA] = __xa;\
+  (v)->e[zYA] = __ya;\
+  (v)->e[zZA] = __za;\
+} while(0)
+
+#define __zMulMat6DVec6D(m,v,mv) __zVec6DCreate( mv,\
+  (m)->m[0].e[0][0]*(v)->e[0] + (m)->m[0].e[1][0]*(v)->e[1] + (m)->m[0].e[2][0]*(v)->e[2] + (m)->m[1].e[0][0]*(v)->e[3] + (m)->m[1].e[1][0]*(v)->e[4] + (m)->m[1].e[2][0]*(v)->e[5],\
+  (m)->m[0].e[0][1]*(v)->e[0] + (m)->m[0].e[1][1]*(v)->e[1] + (m)->m[0].e[2][1]*(v)->e[2] + (m)->m[1].e[0][1]*(v)->e[3] + (m)->m[1].e[1][1]*(v)->e[4] + (m)->m[1].e[2][1]*(v)->e[5],\
+  (m)->m[0].e[0][2]*(v)->e[0] + (m)->m[0].e[1][2]*(v)->e[1] + (m)->m[0].e[2][2]*(v)->e[2] + (m)->m[1].e[0][2]*(v)->e[3] + (m)->m[1].e[1][2]*(v)->e[4] + (m)->m[1].e[2][2]*(v)->e[5],\
+  (m)->m[2].e[0][0]*(v)->e[0] + (m)->m[2].e[1][0]*(v)->e[1] + (m)->m[2].e[2][0]*(v)->e[2] + (m)->m[3].e[0][0]*(v)->e[3] + (m)->m[3].e[1][0]*(v)->e[4] + (m)->m[3].e[2][0]*(v)->e[5],\
+  (m)->m[2].e[0][1]*(v)->e[0] + (m)->m[2].e[1][1]*(v)->e[1] + (m)->m[2].e[2][1]*(v)->e[2] + (m)->m[3].e[0][1]*(v)->e[3] + (m)->m[3].e[1][1]*(v)->e[4] + (m)->m[3].e[2][1]*(v)->e[5],\
+  (m)->m[2].e[0][2]*(v)->e[0] + (m)->m[2].e[1][2]*(v)->e[1] + (m)->m[2].e[2][2]*(v)->e[2] + (m)->m[3].e[0][2]*(v)->e[3] + (m)->m[3].e[1][2]*(v)->e[4] + (m)->m[3].e[2][2]*(v)->e[5])
+
+#define __zMulMat6DTVec6D(m,v,mv) __zVec6DCreate( mv,\
+  (m)->m[0].e[0][0]*(v)->e[0] + (m)->m[0].e[0][1]*(v)->e[1] + (m)->m[0].e[0][2]*(v)->e[2] + (m)->m[2].e[0][0]*(v)->e[0] + (m)->m[2].e[0][1]*(v)->e[1] + (m)->m[2].e[0][2]*(v)->e[2],\
+  (m)->m[0].e[1][0]*(v)->e[0] + (m)->m[0].e[1][1]*(v)->e[1] + (m)->m[0].e[1][2]*(v)->e[2] + (m)->m[2].e[1][0]*(v)->e[0] + (m)->m[2].e[1][1]*(v)->e[1] + (m)->m[2].e[1][2]*(v)->e[2],\
+  (m)->m[0].e[2][0]*(v)->e[0] + (m)->m[0].e[2][1]*(v)->e[1] + (m)->m[0].e[2][2]*(v)->e[2] + (m)->m[2].e[2][0]*(v)->e[0] + (m)->m[2].e[2][1]*(v)->e[1] + (m)->m[2].e[2][2]*(v)->e[2],\
+  (m)->m[1].e[0][0]*(v)->e[0] + (m)->m[1].e[0][1]*(v)->e[1] + (m)->m[1].e[0][2]*(v)->e[2] + (m)->m[3].e[0][0]*(v)->e[0] + (m)->m[3].e[0][1]*(v)->e[1] + (m)->m[3].e[0][2]*(v)->e[2],\
+  (m)->m[1].e[1][0]*(v)->e[0] + (m)->m[1].e[1][1]*(v)->e[1] + (m)->m[1].e[1][2]*(v)->e[2] + (m)->m[3].e[1][0]*(v)->e[0] + (m)->m[3].e[1][1]*(v)->e[1] + (m)->m[3].e[1][2]*(v)->e[2],\
+  (m)->m[1].e[2][0]*(v)->e[0] + (m)->m[1].e[2][1]*(v)->e[1] + (m)->m[1].e[2][2]*(v)->e[2] + (m)->m[3].e[2][0]*(v)->e[0] + (m)->m[3].e[2][1]*(v)->e[1] + (m)->m[3].e[2][2]*(v)->e[2])
 /* zMulMat6DVec6D
  * - multiply a 6x1 vector by a 6x6 matrix from the left side.
  */
 zVec6D *zMulMat6DVec6D(zMat6D *m, zVec6D *vin, zVec6D *vout)
 {
-  zVec3D v1, v2;
-
-  zMulMatVec3D( &m->m[0], zVec6DLin(vin), &v1 );
-  zMulMatVec3D( &m->m[1], zVec6DAng(vin), &v2 );
-  zVec3DAdd( &v1, &v2, zVec6DLin(vout) );
-  zMulMatVec3D( &m->m[2], zVec6DLin(vin), &v1 );
-  zMulMatVec3D( &m->m[3], zVec6DAng(vin), &v2 );
-  zVec3DAdd( &v1, &v2, zVec6DAng(vout) );
+  __zMulMat6DVec6D(m, vin, vout);
+  /* zVec3D v1, v2; */
+  /* zMulMatVec3D( &m->m[0], zVec6DLin(vin), &v1 ); */
+  /* zMulMatVec3D( &m->m[1], zVec6DAng(vin), &v2 ); */
+  /* zVec3DAdd( &v1, &v2, zVec6DLin(vout) ); */
+  /* zMulMatVec3D( &m->m[2], zVec6DLin(vin), &v1 ); */
+  /* zMulMatVec3D( &m->m[3], zVec6DAng(vin), &v2 ); */
+  /* zVec3DAdd( &v1, &v2, zVec6DAng(vout) ); */
   return vout;
 }
 
@@ -73,14 +138,14 @@
  */
 zVec6D *zMulMat6DTVec6D(zMat6D *m, zVec6D *vin, zVec6D *vout)
 {
-  zVec3D v1, v2;
-
-  zMulMatTVec3D( &m->m[0], zVec6DLin(vin), &v1 );
-  zMulMatTVec3D( &m->m[2], zVec6DAng(vin), &v2 );
-  zVec3DAdd( &v1, &v2, zVec6DLin(vout) );
-  zMulMatTVec3D( &m->m[1], zVec6DLin(vin), &v1 );
-  zMulMatTVec3D( &m->m[3], zVec6DAng(vin), &v2 );
-  zVec3DAdd( &v1, &v2, zVec6DAng(vout) );
+  __zMulMat6DTVec6D(m, vin, vout);
+  /* zVec3D v1, v2; */
+  /* zMulMatTVec3D( &m->m[0], zVec6DLin(vin), &v1 ); */
+  /* zMulMatTVec3D( &m->m[2], zVec6DAng(vin), &v2 ); */
+  /* zVec3DAdd( &v1, &v2, zVec6DLin(vout) ); */
+  /* zMulMatTVec3D( &m->m[1], zVec6DLin(vin), &v1 ); */
+  /* zMulMatTVec3D( &m->m[3], zVec6DAng(vin), &v2 ); */
+  /* zVec3DAdd( &v1, &v2, zVec6DAng(vout) ); */
   return vout;
 }
 
@@ -89,10 +154,50 @@
  */
 zMat6D *zMat6DAdd(zMat6D *m1, zMat6D *m2, zMat6D *mout)
 {
-  zMat3DAdd( &m1->m[0], &m2->m[0], &mout->m[0] );
-  zMat3DAdd( &m1->m[1], &m2->m[1], &mout->m[1] );
-  zMat3DAdd( &m1->m[2], &m2->m[2], &mout->m[2] );
-  zMat3DAdd( &m1->m[3], &m2->m[3], &mout->m[3] );
+  mout->m[0].e[0][0] = m1->m[0].e[0][0] + m2->m[0].e[0][0];
+  mout->m[0].e[1][0] = m1->m[0].e[1][0] + m2->m[0].e[1][0];
+  mout->m[0].e[2][0] = m1->m[0].e[2][0] + m2->m[0].e[2][0];
+  mout->m[0].e[0][1] = m1->m[0].e[0][1] + m2->m[0].e[0][1];
+  mout->m[0].e[1][1] = m1->m[0].e[1][1] + m2->m[0].e[1][1];
+  mout->m[0].e[2][1] = m1->m[0].e[2][1] + m2->m[0].e[2][1];
+  mout->m[0].e[0][2] = m1->m[0].e[0][2] + m2->m[0].e[0][2];
+  mout->m[0].e[1][2] = m1->m[0].e[1][2] + m2->m[0].e[1][2];
+  mout->m[0].e[2][2] = m1->m[0].e[2][2] + m2->m[0].e[2][2];
+
+  mout->m[1].e[0][0] = m1->m[1].e[0][0] + m2->m[1].e[0][0];
+  mout->m[1].e[1][0] = m1->m[1].e[1][0] + m2->m[1].e[1][0];
+  mout->m[1].e[2][0] = m1->m[1].e[2][0] + m2->m[1].e[2][0];
+  mout->m[1].e[0][1] = m1->m[1].e[0][1] + m2->m[1].e[0][1];
+  mout->m[1].e[1][1] = m1->m[1].e[1][1] + m2->m[1].e[1][1];
+  mout->m[1].e[2][1] = m1->m[1].e[2][1] + m2->m[1].e[2][1];
+  mout->m[1].e[0][2] = m1->m[1].e[0][2] + m2->m[1].e[0][2];
+  mout->m[1].e[1][2] = m1->m[1].e[1][2] + m2->m[1].e[1][2];
+  mout->m[1].e[2][2] = m1->m[1].e[2][2] + m2->m[1].e[2][2];
+
+  mout->m[2].e[0][0] = m1->m[2].e[0][0] + m2->m[2].e[0][0];
+  mout->m[2].e[1][0] = m1->m[2].e[1][0] + m2->m[2].e[1][0];
+  mout->m[2].e[2][0] = m1->m[2].e[2][0] + m2->m[2].e[2][0];
+  mout->m[2].e[0][1] = m1->m[2].e[0][1] + m2->m[2].e[0][1];
+  mout->m[2].e[1][1] = m1->m[2].e[1][1] + m2->m[2].e[1][1];
+  mout->m[2].e[2][1] = m1->m[2].e[2][1] + m2->m[2].e[2][1];
+  mout->m[2].e[0][2] = m1->m[2].e[0][2] + m2->m[2].e[0][2];
+  mout->m[2].e[1][2] = m1->m[2].e[1][2] + m2->m[2].e[1][2];
+  mout->m[2].e[2][2] = m1->m[2].e[2][2] + m2->m[2].e[2][2];
+
+  mout->m[3].e[0][0] = m1->m[3].e[0][0] + m2->m[3].e[0][0];
+  mout->m[3].e[1][0] = m1->m[3].e[1][0] + m2->m[3].e[1][0];
+  mout->m[3].e[2][0] = m1->m[3].e[2][0] + m2->m[3].e[2][0];
+  mout->m[3].e[0][1] = m1->m[3].e[0][1] + m2->m[3].e[0][1];
+  mout->m[3].e[1][1] = m1->m[3].e[1][1] + m2->m[3].e[1][1];
+  mout->m[3].e[2][1] = m1->m[3].e[2][1] + m2->m[3].e[2][1];
+  mout->m[3].e[0][2] = m1->m[3].e[0][2] + m2->m[3].e[0][2];
+  mout->m[3].e[1][2] = m1->m[3].e[1][2] + m2->m[3].e[1][2];
+  mout->m[3].e[2][2] = m1->m[3].e[2][2] + m2->m[3].e[2][2];
+
+  /* zMat3DAdd( &m1->m[0], &m2->m[0], &mout->m[0] ); */
+  /* zMat3DAdd( &m1->m[1], &m2->m[1], &mout->m[1] ); */
+  /* zMat3DAdd( &m1->m[2], &m2->m[2], &mout->m[2] ); */
+  /* zMat3DAdd( &m1->m[3], &m2->m[3], &mout->m[3] ); */
   return mout;
 }