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  /external/eigen/demos/opengl/
quaternion_demo.cpp 146 Vector3 m_angles; member in class:EulerAngles
151 inline EulerAngles(Scalar a0, Scalar a1, Scalar a2) : m_angles(a0, a1, a2) {}
154 const Vector3& coeffs() const { return m_angles; }
155 Vector3& coeffs() { return m_angles; }
168 m_angles.coeffRef(1) = std::asin(m.coeff(0,2));
169 m_angles.coeffRef(0) = std::atan2(-m.coeff(1,2),m.coeff(2,2));
170 m_angles.coeffRef(2) = std::atan2(-m.coeff(0,1),m.coeff(0,0));
176 Vector3 c = m_angles.array().cos();
177 Vector3 s = m_angles.array().sin();

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