Lines Matching refs:sintheta
327 T sintheta = std::min(sqrt(angle_axis[0] * angle_axis[0] +
333 const T theta = atan2(sintheta, costheta);
345 if ((sintheta > kThreshold) || (sintheta < -kThreshold)) {
346 const T r = theta / (kTwo * sintheta);
380 if (((sintheta < 0.0) && (angle_axis[i] > 0.0)) ||
381 ((sintheta > 0.0) && (angle_axis[i] < 0.0))) {
408 const T sintheta = sin(theta);
411 R(1, 0) = wz*sintheta + wx*wy*(kOne - costheta);
412 R(2, 0) = -wy*sintheta + wx*wz*(kOne - costheta);
413 R(0, 1) = wx*wy*(kOne - costheta) - wz*sintheta;
415 R(2, 1) = wx*sintheta + wy*wz*(kOne - costheta);
416 R(0, 2) = wy*sintheta + wx*wz*(kOne - costheta);
417 R(1, 2) = -wx*sintheta + wy*wz*(kOne - costheta);
588 // (w x pt) * sintheta +
597 const T sintheta = sin(theta);
612 result[0] = pt[0] * costheta + w_cross_pt[0] * sintheta + w[0] * tmp;
613 result[1] = pt[1] * costheta + w_cross_pt[1] * sintheta + w[1] * tmp;
614 result[2] = pt[2] * costheta + w_cross_pt[2] * sintheta + w[2] * tmp;
621 // But sintheta ~ theta and theta * w = angle_axis, which gives us
