24 template<typename QuatType> void check_slerp(const QuatType& q0, const QuatType& q1)  in check_slerp()  argument
32   Scalar theta_tot = AA(q1*q0.inverse()).angle();  in check_slerp()
37     QuatType q = q0.slerp(t,q1);  in check_slerp()
71   Quaternionx q1, q2;  in quaternion()  local
74   q1.coeffs().setRandom();  in quaternion()
75   VERIFY_IS_APPROX(q1.coeffs(), (q1*q2).coeffs());  in quaternion()
78   q1 *= q2;  in quaternion()
80   q1 = AngleAxisx(a, v0.normalized());  in quaternion()
84   Scalar refangle = abs(AngleAxisx(q1.inverse()*q2).angle());  in quaternion()
88   if((q1.coeffs()-q2.coeffs()).norm() > 10*largeEps)  in quaternion()
90     VERIFY_IS_MUCH_SMALLER_THAN(abs(q1.angularDistance(q2) - refangle), Scalar(1));  in quaternion()
94   VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);  in quaternion()
95   VERIFY_IS_APPROX(q1 * q2 * v2,  in quaternion()
96     q1.toRotationMatrix() * q2.toRotationMatrix() * v2);  in quaternion()
98   VERIFY(  (q2*q1).isApprox(q1*q2, largeEps)  in quaternion()
99         || !(q2 * q1 * v2).isApprox(q1.toRotationMatrix() * q2.toRotationMatrix() * v2));  in quaternion()
101   q2 = q1.toRotationMatrix();  in quaternion()
102   VERIFY_IS_APPROX(q1*v1,q2*v1);  in quaternion()
106   AngleAxisx aa = AngleAxisx(q1);  in quaternion()
107   VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);  in quaternion()
115     VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);  in quaternion()
141   VERIFY_IS_APPROX(q1 * (q1.inverse() * v1), v1);  in quaternion()
142   VERIFY_IS_APPROX(q1 * (q1.conjugate() * v1), v1);  in quaternion()
145   Quaternion<float> q1f = q1.template cast<float>();  in quaternion()
146   VERIFY_IS_APPROX(q1f.template cast<Scalar>(),q1);  in quaternion()
147   Quaternion<double> q1d = q1.template cast<double>();  in quaternion()
148   VERIFY_IS_APPROX(q1d.template cast<Scalar>(),q1);  in quaternion()
154   q1 = AngleAxisx(a, v0.normalized());  in quaternion()
156   check_slerp(q1,q2);  in quaternion()
158   q1 = AngleAxisx(b, v1.normalized());  in quaternion()
160   check_slerp(q1,q2);  in quaternion()
162   q1 = AngleAxisx(b,  v1.normalized());  in quaternion()
164   check_slerp(q1,q2);  in quaternion()
166   q1.coeffs() = Vector4::Random().normalized();  in quaternion()
167   q2.coeffs() = -q1.coeffs();  in quaternion()
168   check_slerp(q1,q2);  in quaternion()
200   Quaternionx q1 = mq1;  in mapQuaternion()  local
205   VERIFY_IS_APPROX(q1.coeffs(), q2.coeffs());  in mapQuaternion()
206   VERIFY_IS_APPROX(q1.coeffs(), q3.coeffs());  in mapQuaternion()
225   VERIFY_IS_APPROX(mq1*mq2, q1*q2);  in mapQuaternion()
227   VERIFY_IS_APPROX(mcq1*mq2, q1*q2);  in mapQuaternion()
240   QuaternionA *q1 = ::new(reinterpret_cast<void*>(array1)) QuaternionA;  in quaternionAlignment()  local
244   q1->coeffs().setRandom();  in quaternionAlignment()
245   *q2 = *q1;  in quaternionAlignment()
246   *q3 = *q1;  in quaternionAlignment()
248   VERIFY_IS_APPROX(q1->coeffs(), q2->coeffs());  in quaternionAlignment()
249   VERIFY_IS_APPROX(q1->coeffs(), q3->coeffs());  in quaternionAlignment()