.setIdentity();</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  T.block&lt;3, 3&gt;(0, 0) = q.matrix();</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  T.block&lt;3, 1&gt;(0, 3) = t;</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;}</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
<div class="line"><a name="l00016"></a><span class="lineno"><a class="line"