Lines Matching refs:Rotation
37 #include "ceres/rotation.h"
198 TEST(Rotation, ZeroAngleAxisToQuaternion) {
208 TEST(Rotation, SmallAngleAxisToQuaternion) {
220 TEST(Rotation, TinyAngleAxisToQuaternion) {
231 // Transforms a rotation by pi/2 around X to a quaternion.
232 TEST(Rotation, XRotationToQuaternion) {
242 TEST(Rotation, UnitQuaternionToAngleAxis) {
251 TEST(Rotation, YRotationQuaternionToAngleAxis) {
261 TEST(Rotation, ZRotationQuaternionToAngleAxis) {
270 TEST(Rotation, SmallQuaternionToAngleAxis) {
281 TEST(Rotation, TinyQuaternionToAngleAxis) {
291 TEST(Rotation, QuaternionToAngleAxisAngleIsLessThanPi) {
312 TEST(Rotation, AngleAxisToQuaterionAndBack) {
345 TEST(Rotation, QuaterionToAngleAxisAndBack) {
370 // Transforms a zero axis/angle to a rotation matrix.
371 TEST(Rotation, ZeroAngleAxisToRotationMatrix) {
380 TEST(Rotation, NearZeroAngleAxisToRotationMatrix) {
389 // Transforms a rotation by pi/2 around X to a rotation matrix and back.
390 TEST(Rotation, XRotationToRotationMatrix) {
393 // The rotation matrices are stored column-major.
404 // rotation matrix and back.
405 TEST(Rotation, YRotationToRotationMatrix) {
418 TEST(Rotation, NearPiAngleAxisRoundTrip) {
450 TEST(Rotation, AtPiAngleAxisRoundTrip) {
451 // A rotation of kPi about the X axis;
482 LOG(INFO) << "Rotation:";
501 // rotation matrix.
502 TEST(Rotation, ZRotationToRotationMatrix) {
518 // Takes a bunch of random axis/angle values, converts them to rotation
520 TEST(Rotation, AngleAxisToRotationMatrixAndBack) {
564 // Compare the 3x3 rotation matrices produced by the axis-angle
565 // rotation 'aa' and the Euler angle rotation 'ea' (in radians).
581 // Test with rotation axis along the x/y/z axes.
582 // Also test zero rotation.
600 // Test that a random rotation produces an orthonormal rotation
691 TEST(Rotation, SmallAngleAxisToQuaternionForJets) {
711 TEST(Rotation, TinyAngleAxisToQuaternionForJets) {
732 // Test that derivatives are correct for zero rotation.
733 TEST(Rotation, ZeroAngleAxisToQuaternionForJets) {
747 TEST(Rotation, SmallQuaternionToAngleAxisForJets) {
767 TEST(Rotation, TinyQuaternionToAngleAxisForJets) {
789 // Test that conversion works for no rotation.
790 TEST(Rotation, ZeroQuaternionToAngleAxisForJets) {
810 double const Q[3][3] = { // Scaled rotation matrix.
833 // Rotation defined by a unit quaternion.
