24 template<typename QuatType> void check_slerp(const QuatType& q0, const QuatType& q1)  in check_slerp()  argument
32   Scalar theta_tot = AA(q1*q0.inverse()).angle();  in check_slerp()
37     QuatType q = q0.slerp(t,q1);  in check_slerp()
72   Quaternionx q1, q2;  in quaternion()  local
75   q1.coeffs().setRandom();  in quaternion()
76   VERIFY_IS_APPROX(q1.coeffs(), (q1*q2).coeffs());  in quaternion()
79   q1 *= q2;  in quaternion()
81   q1 = AngleAxisx(a, v0.normalized());  in quaternion()
85   Scalar refangle = internal::abs(AngleAxisx(q1.inverse()*q2).angle());  in quaternion()
89   if((q1.coeffs()-q2.coeffs()).norm() > 10*largeEps)  in quaternion()
91     VERIFY_IS_MUCH_SMALLER_THAN(internal::abs(q1.angularDistance(q2) - refangle), Scalar(1));  in quaternion()
95   VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);  in quaternion()
96   VERIFY_IS_APPROX(q1 * q2 * v2,  in quaternion()
97     q1.toRotationMatrix() * q2.toRotationMatrix() * v2);  in quaternion()
99   VERIFY(  (q2*q1).isApprox(q1*q2, largeEps)  in quaternion()
100         || !(q2 * q1 * v2).isApprox(q1.toRotationMatrix() * q2.toRotationMatrix() * v2));  in quaternion()
102   q2 = q1.toRotationMatrix();  in quaternion()
103   VERIFY_IS_APPROX(q1*v1,q2*v1);  in quaternion()
107   AngleAxisx aa = AngleAxisx(q1);  in quaternion()
108   VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);  in quaternion()
116     VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);  in quaternion()
142   VERIFY_IS_APPROX(q1 * (q1.inverse() * v1), v1);  in quaternion()
143   VERIFY_IS_APPROX(q1 * (q1.conjugate() * v1), v1);  in quaternion()
146   Quaternion<float> q1f = q1.template cast<float>();  in quaternion()
147   VERIFY_IS_APPROX(q1f.template cast<Scalar>(),q1);  in quaternion()
148   Quaternion<double> q1d = q1.template cast<double>();  in quaternion()
149   VERIFY_IS_APPROX(q1d.template cast<Scalar>(),q1);  in quaternion()
155   q1 = AngleAxisx(a, v0.normalized());  in quaternion()
157   check_slerp(q1,q2);  in quaternion()
159   q1 = AngleAxisx(b, v1.normalized());  in quaternion()
161   check_slerp(q1,q2);  in quaternion()
163   q1 = AngleAxisx(b,  v1.normalized());  in quaternion()
165   check_slerp(q1,q2);  in quaternion()
167   q1.coeffs() = Vector4::Random().normalized();  in quaternion()
168   q2.coeffs() = -q1.coeffs();  in quaternion()
169   check_slerp(q1,q2);  in quaternion()
188   Quaternionx q1 = MQuaternionA(array1);  in mapQuaternion()  local
193   VERIFY_IS_APPROX(q1.coeffs(), q2.coeffs());  in mapQuaternion()
194   VERIFY_IS_APPROX(q1.coeffs(), q3.coeffs());  in mapQuaternion()
211   QuaternionA *q1 = ::new(reinterpret_cast<void*>(array1)) QuaternionA;  in quaternionAlignment()  local
215   q1->coeffs().setRandom();  in quaternionAlignment()
216   *q2 = *q1;  in quaternionAlignment()
217   *q3 = *q1;  in quaternionAlignment()
219   VERIFY_IS_APPROX(q1->coeffs(), q2->coeffs());  in quaternionAlignment()
220   VERIFY_IS_APPROX(q1->coeffs(), q3->coeffs());  in quaternionAlignment()