73   m = AngleAxisx(a, v0.normalized()).toRotationMatrix().adjoint();  in geometry()
91   VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);  in geometry()
93     q1.toRotationMatrix() * q2.toRotationMatrix() * v2);  in geometry()
96     q1.toRotationMatrix() * q2.toRotationMatrix() * v2));  in geometry()
98   q2 = q1.toRotationMatrix();  in geometry()
105        AngleAxisx(Scalar(0.1), Vector3(1,0,0)).toRotationMatrix()  in geometry()
106     * (AngleAxisx(Scalar(0.2), Vector3(0,1,0)).toRotationMatrix()  in geometry()
107     * (AngleAxisx(Scalar(0.3), Vector3(0,0,1)).toRotationMatrix() * v1)));  in geometry()
123   VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(),  in geometry()
124     Quaternionx(AngleAxisx(a,v1.normalized())).toRotationMatrix());  in geometry()
127   m = q1.toRotationMatrix();  in geometry()
129   VERIFY_IS_APPROX(AngleAxisx(m).toRotationMatrix(),  in geometry()
130     Quaternionx(m).toRotationMatrix());  in geometry()
146   t0.linear() = q1.toRotationMatrix();  in geometry()
148   t1.linear() = q1.toRotationMatrix();  in geometry()
160   t0.linear() = q1.toRotationMatrix();  in geometry()
163   t1.linear() = q1.conjugate().toRotationMatrix();  in geometry()
173   t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix());  in geometry()
241   t21.linear() = Rotation2D<Scalar>(a).toRotationMatrix();  in geometry()
246   t21.linear() = Rotation2D<Scalar>(-a).toRotationMatrix();  in geometry()