L-MATH is a library for simple linear algebra in geometric applications. Vector and matrix classes are available, as are linear interpolation functions and various operations related to creating rotation matrices using pre-specified frames. L-MATH is licensed under GPL, with the classpath exception.
L-MATH can be installed using ASDF-install or quicklisp, like so:
The library's files are available for download from github.
The current documentation is supplied as a README file with. Bugs can be reported at the project's github issue page.