Lines Matching refs:q1
57 Quaternionx q1, q2; in geometry() local
60 q1.coeffs().setRandom(); in geometry()
61 VERIFY_IS_APPROX(q1.coeffs(), (q1*q2).coeffs()); in geometry()
77 q1 = AngleAxisx(a, v0.normalized()); in geometry()
81 Scalar refangle = ei_abs(AngleAxisx(q1.inverse()*q2).angle()); in geometry()
85 if((q1.coeffs()-q2.coeffs()).norm() > 10*largeEps) in geometry()
87 VERIFY(ei_isApprox(q1.angularDistance(q2), refangle, largeEps)); in geometry()
91 VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2); in geometry()
92 VERIFY_IS_APPROX(q1 * q2 * v2, in geometry()
93 q1.toRotationMatrix() * q2.toRotationMatrix() * v2); in geometry()
95 VERIFY( (q2*q1).isApprox(q1*q2, largeEps) || !(q2 * q1 * v2).isApprox( in geometry()
96 q1.toRotationMatrix() * q2.toRotationMatrix() * v2)); in geometry()
98 q2 = q1.toRotationMatrix(); in geometry()
99 VERIFY_IS_APPROX(q1*v1,q2*v1); in geometry()
110 AngleAxisx aa = q1; in geometry()
111 VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1); in geometry()
112 VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1); in geometry()
119 VERIFY_IS_APPROX(q1 * (q1.inverse() * v1), v1); in geometry()
120 VERIFY_IS_APPROX(q1 * (q1.conjugate() * v1), v1); in geometry()
127 m = q1.toRotationMatrix(); in geometry()
137 q1 = AngleAxisx(a, v0.normalized()); in geometry()
146 t0.linear() = q1.toRotationMatrix(); in geometry()
148 t1.linear() = q1.toRotationMatrix(); in geometry()
160 t0.linear() = q1.toRotationMatrix(); in geometry()
163 t1.linear() = q1.conjugate().toRotationMatrix(); in geometry()
169 t1.fromPositionOrientationScale(v0, q1, v1); in geometry()
173 t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix()); in geometry()
174 t1.setIdentity(); t1.scale(v0).rotate(q1); in geometry()
177 t0.setIdentity(); t0.scale(v0).rotate(AngleAxisx(q1)); in geometry()
253 t0.rotate(q1).scale(v0).translate(v0); in geometry()
255 t1 = (Matrix3(q1) * Scaling3(v0)) * Translation3(v0); in geometry()
258 t1 = Matrix3(q1) * (Scaling3(v0) * Translation3(v0)); in geometry()
262 t0.prerotate(q1).prescale(v0).pretranslate(v0); in geometry()
264 t1 = (Translation3(v0) * Scaling3(v0)) * Matrix3(q1); in geometry()
267 t1 = Translation3(v0) * (Scaling3(v0) * Matrix3(q1)); in geometry()
271 t0.scale(v0).translate(v0).rotate(q1); in geometry()
273 t1 = Scaling3(v0) * (Translation3(v0) * Matrix3(q1)); in geometry()
289 t0.rotate(q1); in geometry()
290 t1 = t1 * q1; in geometry()
294 t0.translate(v1).rotate(q1); in geometry()
295 t1 = t1 * (Translation3(v1) * q1); in geometry()
299 t0.scale(v1).rotate(q1); in geometry()
300 t1 = t1 * (Scaling3(v1) * q1); in geometry()
304 t0.prerotate(q1); in geometry()
305 t1 = q1 * t1; in geometry()
309 t0.rotate(q1).translate(v1); in geometry()
310 t1 = t1 * (q1 * Translation3(v1)); in geometry()
314 t0.rotate(q1).scale(v1); in geometry()
315 t1 = t1 * (q1 * Scaling3(v1)); in geometry()
334 t0.translate(v0).rotate(q1); in geometry()
339 t0.translate(v0).rotate(q1).scale(v1); in geometry()
340 VERIFY_IS_APPROX(t0.rotation() * v1, Matrix3(q1) * v1); in geometry()
344 t0.translate(v0).rotate(q1).scale(v1); in geometry()
372 Quaternion<float> q1f = q1.template cast<float>(); in geometry()
373 VERIFY_IS_APPROX(q1f.template cast<Scalar>(),q1); in geometry()
374 Quaternion<double> q1d = q1.template cast<double>(); in geometry()
375 VERIFY_IS_APPROX(q1d.template cast<Scalar>(),q1); in geometry()
388 m = q1; in geometry()