laas/metapod — pull request #69 by sbarthelemy (2013-05-14 22:51:44+00:00)
Title: fix TransformT<RotationMatrixAboutZ>::mulMatrixTransposeBy

and rewrite TransformT::mulMatrixTransposeBy
in order to ease the comparison with
TransformT::mulMatrixTransposeBy

Note that I do not think RotationMatrixAboutY is tested anywhere.