Procrustes distance formula explanation

Hi, I am using procrustes function from matlab. I am done with the analysis and getting the expected results. Now, I need to write the mathamatical disciption of the formula.

According the explanation on the matlab page,

The procrustes function finds the Procrustes transformation, which is the best shape-preserving Euclidean transformation (consisting of rotation, reflection, scaling, and translation) between the two shapes X and Y. The Procrustes transformation is an optimal transformation that minimizes the sum of squared differences between the landmark points in X and Z, where Z is the transformed shape of Y that results from superimposing Y onto X.

Is there a way to get the equations that matlab uses for the Procrustes transformation?