%test swap_t3()



global_defs;



example = 1;

switch example

	case (1)

		a0= get_unit_vec(randn(3,1));

		b0= get_unit_vec(cross(a0,randn(3,1)));

		c0= get_unit_vec(cross(a0,randn(3,1)));

		a1= get_unit_vec(randn(3,1));

		b1= get_unit_vec(cross(a1,randn(3,1)));

		c1= get_unit_vec(cross(a1,randn(3,1)));

	otherwise

		error("example number is out of range");

end

vecs_in=[c0,b0,a0;c1,b1,a1];

[vecs_out, U1, U0] = swap_t3(vecs_in);

a0f=vecs_out(1:3,1);

a1f=vecs_out(4:6,1);



% c0   b0   a0         a0f   [U0]

% |    |    |    -->   |           

% c1   b1   a1         a1f   [U1]

%where a0 is perp to span(b0,c0)

%and   a1 is perp to span(b1,c1)





error = norm( 

dr11(c1,c0)*dr11(b1,b0)*dr11(a1,a0) - dr11(a1f,a0f)*kron(U1,U0))