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  Mat4x4d scaling_Mat4x4d(const Vec3d&);
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  Mat4x4d scaling_Mat4x4d(const Vec3d&);
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  /// Create an identity matrix.
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  /// Create an identity matrix.
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  inline Mat4x4d identity_Mat4x4d()
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  inline Mat4x4d identity_Mat4x4d()
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    {
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    {
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      return Mat4x4d(Vec4d(1,0,0,0),
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      return Mat4x4d(Vec4d(1.0,0.0,0.0,0.0),
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		     Vec4d(0,1,0,0),
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		     Vec4d(0.0,1.0,0.0,0.0),
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		     Vec4d(0,0,1,0),
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		     Vec4d(0.0,0.0,1.0,0.0),
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		     Vec4d(0,0,0,1));
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		     Vec4d(0.0,0.0,0.0,1.0));
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    }
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    }
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  /** Compute inverse assuming that the upper-left 3x3 sub-matrix is
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  /** Compute inverse assuming that the upper-left 3x3 sub-matrix is
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      orthonormal (which is the case if the transformation is only
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      orthonormal (which is the case if the transformation is only
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      a concatenation of rotations and translations).
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      a concatenation of rotations and translations).