1*bf2c3715SXin Li Matrix3f m; 2*bf2c3715SXin Li m = AngleAxisf(0.25*M_PI, Vector3f::UnitX()) 3*bf2c3715SXin Li * AngleAxisf(0.5*M_PI, Vector3f::UnitY()) 4*bf2c3715SXin Li * AngleAxisf(0.33*M_PI, Vector3f::UnitZ()); 5*bf2c3715SXin Li cout << m << endl << "is unitary: " << m.isUnitary() << endl; 6