Searched refs:costheta (Results 1 – 1 of 1) sorted by relevance
| /external/ceres-solver/include/ceres/ |
| D | rotation.h | 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()
[all …]
|