Lines Matching refs:axis_angle
199 double axis_angle[3] = { 0, 0, 0 }; in TEST() local
202 AngleAxisToQuaternion(axis_angle, quaternion); in TEST()
211 double axis_angle[3] = { theta, 0, 0 }; in TEST() local
214 AngleAxisToQuaternion(axis_angle, quaternion); in TEST()
223 double axis_angle[3] = { theta, 0, 0 }; in TEST() local
226 AngleAxisToQuaternion(axis_angle, quaternion); in TEST()
233 double axis_angle[3] = { kPi / 2, 0, 0 }; in TEST() local
236 AngleAxisToQuaternion(axis_angle, quaternion); in TEST()
244 double axis_angle[3]; in TEST() local
246 QuaternionToAngleAxis(quaternion, axis_angle); in TEST()
247 EXPECT_THAT(axis_angle, IsNearAngleAxis(expected)); in TEST()
253 double axis_angle[3]; in TEST() local
255 QuaternionToAngleAxis(quaternion, axis_angle); in TEST()
256 EXPECT_THAT(axis_angle, IsNearAngleAxis(expected)); in TEST()
263 double axis_angle[3]; in TEST() local
265 QuaternionToAngleAxis(quaternion, axis_angle); in TEST()
266 EXPECT_THAT(axis_angle, IsNearAngleAxis(expected)); in TEST()
274 double axis_angle[3]; in TEST() local
276 QuaternionToAngleAxis(quaternion, axis_angle); in TEST()
277 EXPECT_THAT(axis_angle, IsNearAngleAxis(expected)); in TEST()
285 double axis_angle[3]; in TEST() local
287 QuaternionToAngleAxis(quaternion, axis_angle); in TEST()
288 EXPECT_THAT(axis_angle, IsNearAngleAxis(expected)); in TEST()
315 double axis_angle[3]; in TEST() local
320 axis_angle[i] = RandDouble() * 2 - 1; in TEST()
321 norm += axis_angle[i] * axis_angle[i]; in TEST()
328 axis_angle[i] = axis_angle[i] * theta / norm; in TEST()
336 AngleAxisToQuaternion(axis_angle, quaternion); in TEST()
339 ASSERT_THAT(round_trip, IsNearAngleAxis(axis_angle)); in TEST()
361 double axis_angle[3]; in TEST() local
363 QuaternionToAngleAxis(quaternion, axis_angle); in TEST()
364 AngleAxisToQuaternion(axis_angle, round_trip); in TEST()
372 double axis_angle[3] = { 0, 0, 0 }; in TEST() local
375 AngleAxisToRotationMatrix(axis_angle, matrix); in TEST()
381 double axis_angle[3] = { 1e-24, 2e-24, 3e-24 }; in TEST() local
384 AngleAxisToRotationMatrix(axis_angle, matrix); in TEST()
391 double axis_angle[3] = { kPi / 2, 0, 0 }; in TEST() local
395 AngleAxisToRotationMatrix(axis_angle, matrix); in TEST()
400 EXPECT_THAT(round_trip, IsNearAngleAxis(axis_angle)); in TEST()
406 double axis_angle[3] = { 0, kPi, 0 }; in TEST() local
409 AngleAxisToRotationMatrix(axis_angle, matrix); in TEST()
415 EXPECT_THAT(round_trip, IsNearAngleAxis(axis_angle)); in TEST()
469 double axis_angle[3]; in TEST() local
470 RotationMatrixToAngleAxis(in_matrix, axis_angle); in TEST()
471 AngleAxisToRotationMatrix(axis_angle, out_matrix); in TEST()
473 LOG(INFO) << "AngleAxis = " << axis_angle[0] << " " << axis_angle[1] in TEST()
474 << " " << axis_angle[2]; in TEST()
496 EXPECT_THAT(axis_angle, IsNearAngleAxis(expected_axis_angle)); in TEST()
503 double axis_angle[3] = { 0, 0, kPi / 3 }; in TEST() local
510 AngleAxisToRotationMatrix(axis_angle, matrix); in TEST()
515 EXPECT_THAT(round_trip, IsNearAngleAxis(axis_angle)); in TEST()
523 double axis_angle[3]; in TEST() local
528 axis_angle[i] = RandDouble() * 2 - 1; in TEST()
529 norm += axis_angle[i] * axis_angle[i]; in TEST()
536 axis_angle[i] = axis_angle[i] * theta / norm; in TEST()
541 AngleAxisToRotationMatrix(axis_angle, matrix); in TEST()
546 EXPECT_NEAR(round_trip[i], axis_angle[i], kLooseTolerance); in TEST()
556 double axis_angle[3]; in TEST() local
561 axis_angle[i] = RandDouble() * 2 - 1; in TEST()
562 norm += axis_angle[i] * axis_angle[i]; in TEST()
569 axis_angle[i] = axis_angle[i] * theta / norm; in TEST()
574 AngleAxisToRotationMatrix(axis_angle, matrix); in TEST()
579 EXPECT_NEAR(round_trip[i], axis_angle[i], in TEST()
625 double axis_angle[3] = {x, y, z}; in TEST() local
627 CompareEulerToAngleAxis(axis_angle, euler_angles); in TEST()
731 J3 axis_angle[3] = { J3(theta, 0), J3(0, 1), J3(0, 2) }; in TEST() local
739 AngleAxisToQuaternion(axis_angle, quaternion); in TEST()
751 J3 axis_angle[3] = { J3(theta, 0), J3(0, 1), J3(0, 2) }; in TEST() local
762 AngleAxisToQuaternion(axis_angle, quaternion); in TEST()
769 J3 axis_angle[3] = { J3(0, 0), J3(0, 1), J3(0, 2) }; in TEST() local
777 AngleAxisToQuaternion(axis_angle, quaternion); in TEST()
790 J4 axis_angle[3]; in TEST() local
796 QuaternionToAngleAxis(quaternion, axis_angle); in TEST()
797 ExpectJetArraysClose<3, 4>(axis_angle, expected); in TEST()
810 J4 axis_angle[3]; in TEST() local
819 QuaternionToAngleAxis(quaternion, axis_angle); in TEST()
820 ExpectJetArraysClose<3, 4>(axis_angle, expected); in TEST()
827 J4 axis_angle[3]; in TEST() local
833 QuaternionToAngleAxis(quaternion, axis_angle); in TEST()
834 ExpectJetArraysClose<3, 4>(axis_angle, expected); in TEST()