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38   t0 = Transform3::Identity();
39   VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
115   VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxisx(a, v0.normalized()));
116   VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxisx(a, v0.normalized()) * m);
165   // first test setIdentity() and Identity()
167   VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
169   t0 = Transform3::Identity();
170   VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
215   VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity());
225   VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity());
234   VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity());
384   VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity());
388   VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity());