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5ac883b10a
AngleAxis*Vector products were wrong because they returned the product _expression_ toRotationMatrix()*other; and toRotationMatrix() died before that expression would be later evaluated. Here it would not have been practical to NestByValue as this is a whole matrix. So, let them simply evaluate and return the result by value. The geometry.cpp unit-test only checked for compatibility between various rotations, it didn't check the correctness of the rotations themselves. That's why this bug escaped us. So, this commit checks that the rotations produced by AngleAxis have all the expected properties. Since the compatibility with the other rotations is already checked, this should validate them as well.