95   typedef Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> MatrixX;  in run_test()  typedef
102   MatrixX R = randMatrixSpecialUnitary<Scalar>(dim);  in run_test()
105   MatrixX cR_t = MatrixX::Identity(dim+1,dim+1);  in run_test()
109   MatrixX src = MatrixX::Random(dim+1, num_elements);  in run_test()
112   MatrixX dst = cR_t*src;  in run_test()
114   MatrixX cR_t_umeyama = umeyama(src.block(0,0,dim,num_elements), dst.block(0,0,dim,num_elements));  in run_test()
124   typedef Matrix<Scalar, Dimension+1, Dynamic> MatrixX;  in run_fixed_size_test()  typedef
143   MatrixX src = MatrixX::Random(dim+1, num_elements);  in run_fixed_size_test()
146   MatrixX dst = cR_t*src;  in run_fixed_size_test()
148   Block<MatrixX, Dimension, Dynamic> src_block(src,0,0,dim,num_elements);  in run_fixed_size_test()
149   Block<MatrixX, Dimension, Dynamic> dst_block(dst,0,0,dim,num_elements);  in run_fixed_size_test()