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