Lines Matching refs:theta
231 const T theta = sqrt(theta_squared); in AngleAxisToQuaternion() local
232 const T half_theta = theta * T(0.5); in AngleAxisToQuaternion()
233 const T k = sin(half_theta) / theta; in AngleAxisToQuaternion()
333 const T theta = atan2(sintheta, costheta); in RotationMatrixToAngleAxis() local
346 const T r = theta / (kTwo * sintheta); in RotationMatrixToAngleAxis()
379 angle_axis[i] = theta * sqrt((R(i, i) - costheta) * inv_one_minus_costheta); in RotationMatrixToAngleAxis()
402 const T theta = sqrt(theta2); in AngleAxisToRotationMatrix() local
403 const T wx = angle_axis[0] / theta; in AngleAxisToRotationMatrix()
404 const T wy = angle_axis[1] / theta; in AngleAxisToRotationMatrix()
405 const T wz = angle_axis[2] / theta; in AngleAxisToRotationMatrix()
407 const T costheta = cos(theta); in AngleAxisToRotationMatrix()
408 const T sintheta = sin(theta); in AngleAxisToRotationMatrix()
599 const T theta = sqrt(theta2); in AngleAxisRotatePoint() local
600 w[0] = angle_axis[0] / theta; in AngleAxisRotatePoint()
601 w[1] = angle_axis[1] / theta; in AngleAxisRotatePoint()
602 w[2] = angle_axis[2] / theta; in AngleAxisRotatePoint()
603 costheta = cos(theta); in AngleAxisRotatePoint()
604 sintheta = sin(theta); in AngleAxisRotatePoint()