mals + 9, scratch);
<a name="l00163"></a>00163     my_gemm(3, 3, 3, 1.0, scratch, 3, R_transpose, 3, A_plane_normals, 3, 0.0);
<a name="l00164"></a>00164 
<a name="l00165"></a>00165     <span class="comment">// Transform upper and lower corner (C_prime = (C - T)R^t)</span>
<a name="l00166"></a>00166     std::copy(A_upper_corner, A_upper_corner + 3, scratch);
<a name="l00167"></a>00167     my_axpy(3, 1.0, T_inverse, 1, scratch, 1);
<a name="l00168"></a>00168     my_gemm(1, 3, 3, 1.0, scratch, 3, R_transpose,