--- trunk/src/math/SquareMatrix3.hpp	2005/09/27 20:02:57	633
+++ trunk/src/math/SquareMatrix3.hpp	2006/02/02 17:14:15	883
@@ -179,7 +179,7 @@ namespace oopse {
       Real ad1, ad2, ad3;    
       t = this->data_[0][0] + this->data_[1][1] + this->data_[2][2] + 1.0;
 
-      if( t > 0.0 ){
+      if( t > NumericConstant::epsilon ){
 
 	s = 0.5 / sqrt( t );
 	q[0] = 0.25 / s;
@@ -316,6 +316,16 @@ namespace oopse {
 
       m /= det;
       return m;
+    }
+
+    SquareMatrix3<Real> transpose() const{
+      SquareMatrix3<Real> result;
+                
+      for (unsigned int i = 0; i < 3; i++)
+	for (unsigned int j = 0; j < 3; j++)              
+	  result(j, i) = this->data_[i][j];
+
+      return result;
     }
     /**
      * Extract the eigenvalues and eigenvectors from a 3x3 matrix.