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