321   T costheta = std::min(std::max((R(0, 0) + R(1, 1) + R(2, 2) - kOne) / kTwo,  in RotationMatrixToAngleAxis()  local
333   const T theta = atan2(sintheta, costheta);  in RotationMatrixToAngleAxis()
355   if (costheta > 0.0) {  in RotationMatrixToAngleAxis()
371   const T inv_one_minus_costheta = kOne / (kOne - costheta);  in RotationMatrixToAngleAxis()
379     angle_axis[i] = theta * sqrt((R(i, i) - costheta) * inv_one_minus_costheta);  in RotationMatrixToAngleAxis()
407     const T costheta = cos(theta);  in AngleAxisToRotationMatrix()  local
410     R(0, 0) =     costheta   + wx*wx*(kOne -    costheta);  in AngleAxisToRotationMatrix()
411     R(1, 0) =  wz*sintheta   + wx*wy*(kOne -    costheta);  in AngleAxisToRotationMatrix()
412     R(2, 0) = -wy*sintheta   + wx*wz*(kOne -    costheta);  in AngleAxisToRotationMatrix()
413     R(0, 1) =  wx*wy*(kOne - costheta)     - wz*sintheta;  in AngleAxisToRotationMatrix()
414     R(1, 1) =     costheta   + wy*wy*(kOne -    costheta);  in AngleAxisToRotationMatrix()
415     R(2, 1) =  wx*sintheta   + wy*wz*(kOne -    costheta);  in AngleAxisToRotationMatrix()
416     R(0, 2) =  wy*sintheta   + wx*wz*(kOne -    costheta);  in AngleAxisToRotationMatrix()
417     R(1, 2) = -wx*sintheta   + wy*wz*(kOne -    costheta);  in AngleAxisToRotationMatrix()
418     R(2, 2) =     costheta   + wz*wz*(kOne -    costheta);  in AngleAxisToRotationMatrix()
596     const T costheta = cos(theta);  in AngleAxisRotatePoint()  local
610         (w[0] * pt[0] + w[1] * pt[1] + w[2] * pt[2]) * (T(1.0) - costheta);  in AngleAxisRotatePoint()
612     result[0] = pt[0] * costheta + w_cross_pt[0] * sintheta + w[0] * tmp;  in AngleAxisRotatePoint()
613     result[1] = pt[1] * costheta + w_cross_pt[1] * sintheta + w[1] * tmp;  in AngleAxisRotatePoint()
614     result[2] = pt[2] * costheta + w_cross_pt[2] * sintheta + w[2] * tmp;  in AngleAxisRotatePoint()