28   typedef AngleAxis<Scalar> AngleAxisx;  in geometry()  typedef
70   VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0);  in geometry()
71   VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(M_PI), v0.unitOrthogonal()) * v0);  in geometry()
72 …VERIFY_IS_APPROX(ei_cos(a)*v0.squaredNorm(), v0.eigen2_dot(AngleAxisx(a, v0.unitOrthogonal()) * v0…  in geometry()
73   m = AngleAxisx(a, v0.normalized()).toRotationMatrix().adjoint();  in geometry()
74   VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxisx(a, v0.normalized()));  in geometry()
75   VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxisx(a, v0.normalized()) * m);  in geometry()
77   q1 = AngleAxisx(a, v0.normalized());  in geometry()
78   q2 = AngleAxisx(a, v1.normalized());  in geometry()
81   Scalar refangle = ei_abs(AngleAxisx(q1.inverse()*q2).angle());  in geometry()
101   matrot1 = AngleAxisx(Scalar(0.1), Vector3::UnitX())  in geometry()
102           * AngleAxisx(Scalar(0.2), Vector3::UnitY())  in geometry()
103           * AngleAxisx(Scalar(0.3), Vector3::UnitZ());  in geometry()
105        AngleAxisx(Scalar(0.1), Vector3(1,0,0)).toRotationMatrix()  in geometry()
106     * (AngleAxisx(Scalar(0.2), Vector3(0,1,0)).toRotationMatrix()  in geometry()
107     * (AngleAxisx(Scalar(0.3), Vector3(0,0,1)).toRotationMatrix() * v1)));  in geometry()
110   AngleAxisx aa = q1;  in geometry()
112   VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);  in geometry()
123   VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(),  in geometry()
124     Quaternionx(AngleAxisx(a,v1.normalized())).toRotationMatrix());  in geometry()
126   AngleAxisx aa1;  in geometry()
129   VERIFY_IS_APPROX(AngleAxisx(m).toRotationMatrix(),  in geometry()
137   q1 = AngleAxisx(a, v0.normalized());  in geometry()
177   t0.setIdentity(); t0.scale(v0).rotate(AngleAxisx(q1));  in geometry()
194   AngleAxisx aa3(a3, v3);  in geometry()
199   t4.rotate(AngleAxisx(-a3,v3));  in geometry()
394 …Matrix3 m1 = Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y())…  in geometry()
396 …VERIFY_IS_APPROX(m,  Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Un…  in geometry()