13   return Q((a.coeffs() * (1.0-t) + b.coeffs() * t).normalized());  in nlerp()
41   return Q(scale0 * a.coeffs() + scale1 * b.coeffs());  in slerp_legacy()
72   return Q(scale0 * a.coeffs() + scale1 * b.coeffs());  in slerp_legacy_nlerp()
92     theta = /*M_PI -*/ Scalar(2)*std::asin( (a.coeffs()+b.coeffs()).norm()/2 );  in slerp_rw()
94     theta = Scalar(2)*std::asin( (a.coeffs()-b.coeffs()).norm()/2 );  in slerp_rw()
105   return Quaternion<Scalar>(scale0 * a.coeffs() + scale1 * b.coeffs());  in slerp_rw()
120     theta = /*M_PI -*/ Scalar(2)*std::asin( (-a.coeffs()-b.coeffs()).norm()/2 );  in slerp_gael()
122     theta = Scalar(2)*std::asin( (a.coeffs()-b.coeffs()).norm()/2 );  in slerp_gael()
141   return Quaternion<Scalar>(scale0 * a.coeffs() + scale1 * b.coeffs());  in slerp_gael()
170     a.coeffs().setRandom();  in main()
172     b.coeffs().setRandom();  in main()
199       err[0] = (cr.coeffs()-refc.cast<RefScalar>().coeffs()).norm();  in main()
203         err[k+1] = (c[k].coeffs()-refc.coeffs()).norm();  in main()
221   a.coeffs().setRandom();  in main()
223   b.coeffs().setRandom();  in main()