public void FromPose()
{
var pose = new Pose(new Vector3F(1, 2, 3), new QuaternionF(1, 2, 3, 4).Normalized);
var srt = SrtTransform.FromPose(pose);
Assert.AreEqual(Vector3F.One, srt.Scale);
Assert.AreEqual(pose.Position, srt.Translation);
Assert.IsTrue(Matrix33F.AreNumericallyEqual(pose.Orientation, srt.Rotation.ToRotationMatrix33()));
pose = new Pose(new Vector3F(1, 2, 3), new QuaternionF(1, 2, 3, 4).Normalized);
srt = pose;
Assert.AreEqual(Vector3F.One, srt.Scale);
Assert.AreEqual(pose.Position, srt.Translation);
Assert.IsTrue(Matrix33F.AreNumericallyEqual(pose.Orientation, srt.Rotation.ToRotationMatrix33()));
}