plane_normals, 3, 0.0);
<a name="l00137"></a>00137 
<a name="l00138"></a>00138     <span class="comment">// Transform upper and lower corner</span>
<a name="l00139"></a>00139     std::copy(A_upper_corner, A_upper_corner + 3, scratch);
<a name="l00140"></a>00140     std::copy(T, T + 3, A_upper_corner);
<a name="l00141"></a>00141     my_gemm(1, 3, 3, 1.0, scratch, 3, R, 3, A_upper_corner, 3, 1.0);
<a name="l00142"></a>00142     std::copy(A_lower_corner, A_lower_corner + 3, scratch);
<a name="l00143"></a>00143