Lines Matching refs:sintheta
327 T sintheta = std::min(sqrt(angle_axis[0] * angle_axis[0] + in RotationMatrixToAngleAxis() local
333 const T theta = atan2(sintheta, costheta); in RotationMatrixToAngleAxis()
345 if ((sintheta > kThreshold) || (sintheta < -kThreshold)) { in RotationMatrixToAngleAxis()
346 const T r = theta / (kTwo * sintheta); in RotationMatrixToAngleAxis()
380 if (((sintheta < 0.0) && (angle_axis[i] > 0.0)) || in RotationMatrixToAngleAxis()
381 ((sintheta > 0.0) && (angle_axis[i] < 0.0))) { in RotationMatrixToAngleAxis()
408 const T sintheta = sin(theta); in AngleAxisToRotationMatrix() local
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()
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()
597 const T sintheta = sin(theta); in AngleAxisRotatePoint() local
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()