We consider a world reference frame denoted by {0} which has its x-axis pointing east and its y-axis pointing north. There is a robot with an attached body-fixed coordinate frame {B} whose origin is in the centre of the robot, and whose x-axis points in the robot's forward direction.

With respect to the robot's coordinate frame, the world frame origin is at a distance of 67.2m in the x-direction and 32.4m in the y-direction, and at a bearing angle of 42 degrees.

Write a 3x3 matrix homogeneous transformation matrix that expresses the pose of the robot frame {B} with respect to the world frame {O}.