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|Test||Status||Code Input and Output|
assert(all(size(PB) == [2 1]), 'The point should be described by a 2x1 vector')
assert(isreal(PB), 'The point should be described by a vector of real, not complex, numbers');
PBref = R*P + t; assert( all(abs(PB-PBref) < 0.001), 'The relative coordinates are not correct')