Lines Matching full:matrix
150 // double matrix[9];
151 // EXPECT_THAT(matrix, IsOrthonormal());
154 *result_listener << "Null matrix";
183 *result_listener << "Null matrix";
370 // Transforms a zero axis/angle to a rotation matrix.
373 double matrix[9];
375 AngleAxisToRotationMatrix(axis_angle, matrix);
376 EXPECT_THAT(matrix, IsOrthonormal());
377 EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
382 double matrix[9];
384 AngleAxisToRotationMatrix(axis_angle, matrix);
385 EXPECT_THAT(matrix, IsOrthonormal());
386 EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
389 // Transforms a rotation by pi/2 around X to a rotation matrix and back.
392 double matrix[9];
395 AngleAxisToRotationMatrix(axis_angle, matrix);
396 EXPECT_THAT(matrix, IsOrthonormal());
397 EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
399 RotationMatrixToAngleAxis(matrix, round_trip);
404 // rotation matrix and back.
407 double matrix[9];
409 AngleAxisToRotationMatrix(axis_angle, matrix);
410 EXPECT_THAT(matrix, IsOrthonormal());
411 EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
414 RotationMatrixToAngleAxis(matrix, round_trip);
420 double matrix[9];
441 AngleAxisToRotationMatrix(in_axis_angle, matrix);
442 RotationMatrixToAngleAxis(matrix, out_axis_angle);
501 // rotation matrix.
504 double matrix[9];
510 AngleAxisToRotationMatrix(axis_angle, matrix);
511 EXPECT_THAT(matrix, IsOrthonormal());
512 EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
514 RotationMatrixToAngleAxis(matrix, round_trip);
539 double matrix[9];
541 AngleAxisToRotationMatrix(axis_angle, matrix);
542 ASSERT_THAT(matrix, IsOrthonormal());
543 RotationMatrixToAngleAxis(matrix, round_trip);
551 // Transposes a 3x3 matrix.
601 // matrix.
810 double const Q[3][3] = { // Scaled rotation matrix.
