public void IsValid() { Matrix44D inValidPose = new Matrix44D(new double[, ] { { 1, 2, 3, 0 }, { 4, 5, 6, 0 }, { 7, 8, 9, 0 }, { 0, 0, 0, 1 }, }); Assert.IsFalse(PoseD.IsValid(inValidPose)); Assert.IsTrue(PoseD.IsValid(Matrix44D.CreateRotationZ(0.3))); inValidPose = new Matrix44D(new double[, ] { { 1, 0, 0, 0 }, { 0, 1, 0, 0 }, { 0, 0, 1, 0 }, { 0, 1, 0, 1 }, }); Assert.IsFalse(PoseD.IsValid(inValidPose)); inValidPose = new Matrix44D(new double[, ] { { 1, 0, 0, 0 }, { 0, 1, 0, 0 }, { 0, 0, -1, 0 }, { 0, 1, 0, 1 }, }); Assert.IsFalse(PoseD.IsValid(inValidPose)); }