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Lines Matching full:mat_rotation

342   Matrix3 mat_rotation, mat_scaling;
345   t0.computeRotationScaling(&mat_rotation, &mat_scaling);
346   VERIFY_IS_APPROX(t0.linear(), mat_rotation * mat_scaling);
347   VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity());
348   VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1));
349   t0.computeScalingRotation(&mat_scaling, &mat_rotation);
350   VERIFY_IS_APPROX(t0.linear(), mat_scaling * mat_rotation);
351   VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity());
352   VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1));