Cross Reference: /external/ceres-solver/internal/ceres/rotation

Lines Matching defs:quaternion
62 // double quaternion[4];
63 // EXPECT_THAT(quaternion, IsNormalizedQuaternion());
66     *result_listener << "Null quaternion";
86     *result_listener << "Null quaternion";
197 // Transforms a zero axis/angle to a quaternion.
200   double quaternion[4];
202   AngleAxisToQuaternion(axis_angle, quaternion);
203   EXPECT_THAT(quaternion, IsNormalizedQuaternion());
204   EXPECT_THAT(quaternion, IsNearQuaternion(expected));
212   double quaternion[4];
214   AngleAxisToQuaternion(axis_angle, quaternion);
215   EXPECT_THAT(quaternion, IsNormalizedQuaternion());
216   EXPECT_THAT(quaternion, IsNearQuaternion(expected));
224   double quaternion[4];
226   AngleAxisToQuaternion(axis_angle, quaternion);
227   EXPECT_THAT(quaternion, IsNormalizedQuaternion());
228   EXPECT_THAT(quaternion, IsNearQuaternion(expected));
231 // Transforms a rotation by pi/2 around X to a quaternion.
234   double quaternion[4];
236   AngleAxisToQuaternion(axis_angle, quaternion);
237   EXPECT_THAT(quaternion, IsNormalizedQuaternion());
238   EXPECT_THAT(quaternion, IsNearQuaternion(expected));
241 // Transforms a unit quaternion to an axis angle.
243   double quaternion[4] = { 1, 0, 0, 0 };
246   QuaternionToAngleAxis(quaternion, axis_angle);
250 // Transforms a quaternion that rotates by pi about the Y axis to an axis angle.
252   double quaternion[4] = { 0, 0, 1, 0 };
255   QuaternionToAngleAxis(quaternion, axis_angle);
259 // Transforms a quaternion that rotates by pi/3 about the Z axis to an axis
262   double quaternion[4] = { sqrt(3) / 2, 0, 0, 0.5 };
265   QuaternionToAngleAxis(quaternion, axis_angle);
273   double quaternion[4] = { cos(theta/2), sin(theta/2.0), 0, 0 };
276   QuaternionToAngleAxis(quaternion, axis_angle);
284   double quaternion[4] = { cos(theta/2), sin(theta/2.0), 0, 0 };
287   QuaternionToAngleAxis(quaternion, axis_angle);
292   double quaternion[4];
297   quaternion[0] = cos(half_theta);
298   quaternion[1] = 1.0 * sin(half_theta);
299   quaternion[2] = 0.0;
300   quaternion[3] = 0.0;
301   QuaternionToAngleAxis(quaternion, angle_axis);
331     double quaternion[4];
336     AngleAxisToQuaternion(axis_angle, quaternion);
337     ASSERT_THAT(quaternion, IsNormalizedQuaternion());
338     QuaternionToAngleAxis(quaternion, round_trip);
348     double quaternion[4];
352       quaternion[i] = RandDouble() * 2 - 1;
353       norm += quaternion[i] * quaternion[i];
358       quaternion[i] = quaternion[i] / norm;
363     QuaternionToAngleAxis(quaternion, axis_angle);
366     ASSERT_THAT(round_trip, IsNearQuaternion(quaternion));
732     J3 quaternion[4];
739     AngleAxisToQuaternion(axis_angle, quaternion);
740     ExpectJetArraysClose<4, 3>(quaternion, expected);
752     J3 quaternion[4];
762     AngleAxisToQuaternion(axis_angle, quaternion);
763     ExpectJetArraysClose<4, 3>(quaternion, expected);
770   J3 quaternion[4];
777   AngleAxisToQuaternion(axis_angle, quaternion);
778   ExpectJetArraysClose<4, 3>(quaternion, expected);
789     J4 quaternion[4] = { J4(c, 0), J4(s, 1), J4(0, 2), J4(0, 3) };
796     QuaternionToAngleAxis(quaternion, axis_angle);
809     J4 quaternion[4] = { J4(c, 0), J4(s, 1), J4(0, 2), J4(0, 3) };
819     QuaternionToAngleAxis(quaternion, axis_angle);
826   J4 quaternion[4] = { J4(1, 0), J4(0, 1), J4(0, 2), J4(0, 3) };
833   QuaternionToAngleAxis(quaternion, axis_angle);
868   // Rotation defined by a unit quaternion.