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404   JacobiRotation<RealScalar> rot1;
409     rot1.c() = RealScalar(0);
410     rot1.s() = d > RealScalar(0) ? RealScalar(1) : RealScalar(-1);
415     rot1.c() = RealScalar(1) / sqrt(RealScalar(1) + abs2(u));
416     rot1.s() = rot1.c() * u;
418   m.applyOnTheLeft(0,1,rot1);
420   *j_left  = rot1 * j_right->transpose();