Lines Matching refs:AngleAxisx
22 typedef AngleAxis<Scalar> AngleAxisx;
36 q1 = AngleAxisx(a, v0.normalized());
88 typedef AngleAxis<Scalar> AngleAxisx;
108 VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0);
109 VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(M_PI), v0.unitOrthogonal()) * v0);
112 VERIFY_IS_APPROX(cos(a)*v0.squaredNorm(), v0.dot(AngleAxisx(a, v0.unitOrthogonal()) * v0));
114 m = AngleAxisx(a, v0.normalized()).toRotationMatrix().adjoint();
115 VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxisx(a, v0.normalized()));
116 VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxisx(a, v0.normalized()) * m);
119 q1 = AngleAxisx(a, v0.normalized());
120 q2 = AngleAxisx(a, v1.normalized());
123 matrot1 = AngleAxisx(Scalar(0.1), Vector3::UnitX())
124 * AngleAxisx(Scalar(0.2), Vector3::UnitY())
125 * AngleAxisx(Scalar(0.3), Vector3::UnitZ());
127 AngleAxisx(Scalar(0.1), Vector3(1,0,0)).toRotationMatrix()
128 * (AngleAxisx(Scalar(0.2), Vector3(0,1,0)).toRotationMatrix()
129 * (AngleAxisx(Scalar(0.3), Vector3(0,0,1)).toRotationMatrix() * v1)));
132 AngleAxisx aa = AngleAxisx(q1);
137 VERIFY( !(q1 * v1).isApprox(Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1) );
144 VERIFY( !(q1 * v1).isApprox(Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1) );
148 VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(),
149 Quaternionx(AngleAxisx(a,v1.normalized())).toRotationMatrix());
151 AngleAxisx aa1;
154 VERIFY_IS_APPROX(AngleAxisx(m).toRotationMatrix(),
162 q1 = AngleAxisx(a, v0.normalized());
191 t0.setIdentity(); t0.scale(v0).rotate(AngleAxisx(q1));
209 AngleAxisx aa3(a3, v3);
214 t4.rotate(AngleAxisx(-a3,v3));
