Transformation Matrix

ravi

Hi,
      I need to calculate a Transformation matrix .I am defining a World Coordinate System .Then I would move the robot to 3 different points in World coordinte System.Now the robot stores these 3 points in terms of Robot Coordinate System.Let us call Wp and Rp for world and Robot coordinate systems.Now I a want to find the transformation matrix which transforms the Rp to Wp i.e Rp *T=Wp.In order to find the Transformation T i have an algorithm which uses Singular Value Decomposition(SVD).I wouldl like to know if are there any functions in RAPID which does this SVD.If not so,how do i proceed?
Incase of any clarifications please let me know.

Br
Ravi