Some test cases. You should print a few more significant figures than this.

theta[1..5]: 0 0 0 0 0
[      0.0     -0.0      1.0     48.9 ]
[     -0.0      1.0      0.0      0.0 ]
[     -1.0     -0.0      0.0     27.2 ]
[      0.0      0.0      0.0      1.0 ]

theta[1..5]: 90 0 0 0 0
[      0.0     -1.0     -0.0      0.0 ]
[      0.0      0.0      1.0     48.9 ]
[     -1.0     -0.0      0.0     27.2 ]
[      0.0      0.0      0.0      1.0 ]

theta[1..5]: 0 90 0 0 0
[      1.0      0.0      0.0      0.0 ]
[     -0.0      1.0      0.0      0.0 ]
[      0.0     -0.0      1.0     76.1 ]
[      0.0      0.0      0.0      1.0 ]

theta[1..5]: 0 0 90 0 0
[     -1.0     -0.0      0.0     19.2 ]
[     -0.0      1.0     -0.0     -0.0 ]
[     -0.0     -0.0     -1.0     -2.5 ]
[      0.0      0.0      0.0      1.0 ]

theta[1..5]: 0 0 0 90 0
[     -1.0     -0.0      0.0     38.4 ]
[     -0.0      1.0     -0.0     -0.0 ]
[     -0.0     -0.0     -1.0     16.7 ]
[      0.0      0.0      0.0      1.0 ]

theta[1..5]: 0 0 0 0 90
[     -0.0     -0.0      1.0     48.9 ]
[      1.0      0.0      0.0      0.0 ]
[     -0.0      1.0      0.0     27.2 ]
[      0.0      0.0      0.0      1.0 ]

theta[1..5]: 10 20 30 40 50
[     -0.6      0.5      0.6     43.0 ]
[      0.7      0.7      0.1      7.6 ]
[     -0.4      0.5     -0.8     22.4 ]
[      0.0      0.0      0.0      1.0 ]