# Relative frame calculation

what's the quickest way to calculate a relative coordinate of a frame, as shown in the code below. The Kuka robot language this ":" is referred to as the geometric operator. I would like to perform this calculation in matlab, scilab, smathstudio or java, could you please advise on which library to use and/or how to proceed?

Frame TableTop=[x1 y1 z1 a1 b1 c1]
Frame RelCoord=[x2 y2 z2 a2 b2 c2]

Frame AbsCoord= TableTop:RelCoord