Cross Reference: /external/eigen/test/geo

Lines Matching defs:v1
63           v1 = Vector3::Random(),
81   q2 = AngleAxisx(a, v1.normalized());
102   VERIFY_IS_APPROX(q1*v1,q2*v1);
107   VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
110   // the rotation axis and v1 are almost parallel.
112       && (aa.axis() - v1.normalized()).norm() < 1.99
113       && (aa.axis() + v1.normalized()).norm() < 1.99) 
115     VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);
119   VERIFY_IS_APPROX( v2.normalized(),(q2.setFromTwoVectors(v1, v2)*v1).normalized());
120   VERIFY_IS_APPROX( v1.normalized(),(q2.setFromTwoVectors(v1, v1)*v1).normalized());
121   VERIFY_IS_APPROX(-v1.normalized(),(q2.setFromTwoVectors(v1,-v1)*v1).normalized());
124     v3 = (v1.array()+eps).matrix();
125     VERIFY_IS_APPROX( v3.normalized(),(q2.setFromTwoVectors(v1, v3)*v1).normalized());
126     VERIFY_IS_APPROX(-v3.normalized(),(q2.setFromTwoVectors(v1,-v3)*v1).normalized());
130   VERIFY_IS_APPROX( v2.normalized(),(Quaternionx::FromTwoVectors(v1, v2)*v1).normalized());
131   VERIFY_IS_APPROX( v1.normalized(),(Quaternionx::FromTwoVectors(v1, v1)*v1).normalized());
132   VERIFY_IS_APPROX(-v1.normalized(),(Quaternionx::FromTwoVectors(v1,-v1)*v1).normalized());
135     v3 = (v1.array()+eps).matrix();
136     VERIFY_IS_APPROX( v3.normalized(),(Quaternionx::FromTwoVectors(v1, v3)*v1).normalized());
137     VERIFY_IS_APPROX(-v3.normalized(),(Quaternionx::FromTwoVectors(v1,-v3)*v1).normalized());
141   VERIFY_IS_APPROX(q1 * (q1.inverse() * v1), v1);
142   VERIFY_IS_APPROX(q1 * (q1.conjugate() * v1), v1);
155   q2 = AngleAxisx(b, v1.normalized());
158   q1 = AngleAxisx(b, v1.normalized());
159   q2 = AngleAxisx(b+Scalar(M_PI), v1.normalized());
162   q1 = AngleAxisx(b,  v1.normalized());
163   q2 = AngleAxisx(-b, -v1.normalized());
181           v1 = Vector3::Random();
213   VERIFY_IS_APPROX(mq1 * (mq1.inverse() * v1), v1);
214   VERIFY_IS_APPROX(mq1 * (mq1.conjugate() * v1), v1);
216   VERIFY_IS_APPROX(mcq1 * (mcq1.inverse() * v1), v1);
217   VERIFY_IS_APPROX(mcq1 * (mcq1.conjugate() * v1), v1);
219   VERIFY_IS_APPROX(mq3 * (mq3.inverse() * v1), v1);
220   VERIFY_IS_APPROX(mq3 * (mq3.conjugate() * v1), v1);
222   VERIFY_IS_APPROX(mcq3 * (mcq3.inverse() * v1), v1);
223   VERIFY_IS_APPROX(mcq3 * (mcq3.conjugate() * v1), v1);