public void ToPose() { var srt = new SrtTransform(new Vector3F(4, 5, 6), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(1, 2, 3)); var pose = srt.ToPose(); Assert.AreEqual(pose.Position, srt.Translation); Assert.IsTrue(Matrix33F.AreNumericallyEqual(pose.Orientation, srt.Rotation.ToRotationMatrix33())); srt = new SrtTransform(new Vector3F(4, 5, 6), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(1, 2, 3)); pose = (Pose)srt; Assert.AreEqual(pose.Position, srt.Translation); Assert.IsTrue(Matrix33F.AreNumericallyEqual(pose.Orientation, srt.Rotation.ToRotationMatrix33())); }