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