100     void    find_invariant_vector(  R3_matrix<TYPE_FLOAT> const & rot,  in find_invariant_vector()  argument
109         TYPE_FLOAT    b11 = rot.a11 - static_cast<TYPE_FLOAT>(1);  in find_invariant_vector()
110         TYPE_FLOAT    b12 = rot.a12;  in find_invariant_vector()
111         TYPE_FLOAT    b13 = rot.a13;  in find_invariant_vector()
112         TYPE_FLOAT    b21 = rot.a21;  in find_invariant_vector()
113         TYPE_FLOAT    b22 = rot.a22 - static_cast<TYPE_FLOAT>(1);  in find_invariant_vector()
114         TYPE_FLOAT    b23 = rot.a23;  in find_invariant_vector()
115         TYPE_FLOAT    b31 = rot.a31;  in find_invariant_vector()
116         TYPE_FLOAT    b32 = rot.a32;  in find_invariant_vector()
117         TYPE_FLOAT    b33 = rot.a33 - static_cast<TYPE_FLOAT>(1);  in find_invariant_vector()
418 …t::math::quaternion<TYPE_FLOAT>    R3_rotation_to_quaternion(    R3_matrix<TYPE_FLOAT> const & rot,  in R3_rotation_to_quaternion()  argument
428     if    (!is_R3_rotation_matrix(rot))  in R3_rotation_to_quaternion()
439             (abs(rot.a11 - static_cast<TYPE_FLOAT>(1)) <= numeric_limits<TYPE_FLOAT>::epsilon())&&  in R3_rotation_to_quaternion()
440             (abs(rot.a22 - static_cast<TYPE_FLOAT>(1)) <= numeric_limits<TYPE_FLOAT>::epsilon())&&  in R3_rotation_to_quaternion()
441             (abs(rot.a33 - static_cast<TYPE_FLOAT>(1)) <= numeric_limits<TYPE_FLOAT>::epsilon())  in R3_rotation_to_quaternion()
448 …TYPE_FLOAT    cos_theta = (rot.a11+rot.a22+rot.a33-static_cast<TYPE_FLOAT>(1))/static_cast<TYPE_FL…  in R3_rotation_to_quaternion()
457         find_invariant_vector(rot, x, y, z);  in R3_rotation_to_quaternion()
471         TYPE_FLOAT    ru = rot.a11*u+rot.a12*v+rot.a13*w;  in R3_rotation_to_quaternion()
472         TYPE_FLOAT    rv = rot.a21*u+rot.a22*v+rot.a23*w;  in R3_rotation_to_quaternion()
473         TYPE_FLOAT    rw = rot.a31*u+rot.a32*v+rot.a33*w;  in R3_rotation_to_quaternion()