Searched refs:costheta (Results 1 – 2 of 2) 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()
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| /external/opencv3/3rdparty/openexr/Imath/ |
| D | ImathQuat.h | 668 T costheta = Math<T>::cos (theta); in exp() local
670 return Quat<T> (costheta, v.x * k, v.y * k, v.z * k); in exp()
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