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