%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))
