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I am trying to convert a set of coordinates from ECEF (Earth Center Earth Fixed) to ENU (East North Up). The operation is performed by applying a rotation matrix as shown in: [http://en.wikipedia.org/wiki/Geodetic_system#From_ECEF_to_ENU][1]

The article shows that if you have a vector to convert, you apply th e rotation matrix and obtained the desired result as a vector. My question is: if you apply the same rotation matrix to a matrix of vectors do you have to perform any additional actions, or the multiplication will be sufficient? I am investigating source code where the conversion is performed like this:

result = RotationMatrix * MatrixToConvert * RotationMatrixTransposed

Does this make sense"?

Isn't in sufficient like this:

result = MatrixToConvert * RotationMatrix

Thank you

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