24   typedef Matrix<Scalar,3,1> Vector3;  in non_projective_only()  typedef
38   Vector3 v0 = Vector3::Random(),  in non_projective_only()
39           v1 = Vector3::Random();  in non_projective_only()
57   VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).template head<3>().norm(), v0.x());  in non_projective_only()
95   typedef Matrix<Scalar,3,1> Vector3;  in transformations()  typedef
109   Vector3 v0 = Vector3::Random(),  in transformations()
110           v1 = Vector3::Random();  in transformations()
128   matrot1 = AngleAxisx(Scalar(0.1), Vector3::UnitX())  in transformations()
129           * AngleAxisx(Scalar(0.2), Vector3::UnitY())  in transformations()
130           * AngleAxisx(Scalar(0.3), Vector3::UnitZ());  in transformations()
132        AngleAxisx(Scalar(0.1), Vector3(1,0,0)).toRotationMatrix()  in transformations()
133     * (AngleAxisx(Scalar(0.2), Vector3(0,1,0)).toRotationMatrix()  in transformations()
134     * (AngleAxisx(Scalar(0.3), Vector3(0,0,1)).toRotationMatrix() * v1)));  in transformations()
192   VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix());  in transformations()
193   VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix());  in transformations()
199   mat4 << mat3 , Vector3::Zero() , Vector4::Zero().transpose();  in transformations()
206   Vector3 v3 = Vector3::Random().normalized();  in transformations()
217   v3 = Vector3::Random();  in transformations()