Searched refs:sintheta (Results 1 – 1 of 1) sorted by relevance
327 T sintheta = std::min(sqrt(angle_axis[0] * angle_axis[0] + in RotationMatrixToAngleAxis() local333 const T theta = atan2(sintheta, costheta); in RotationMatrixToAngleAxis()345 if ((sintheta > kThreshold) || (sintheta < -kThreshold)) { in RotationMatrixToAngleAxis()346 const T r = theta / (kTwo * sintheta); in RotationMatrixToAngleAxis()380 if (((sintheta < 0.0) && (angle_axis[i] > 0.0)) || in RotationMatrixToAngleAxis()381 ((sintheta > 0.0) && (angle_axis[i] < 0.0))) { in RotationMatrixToAngleAxis()408 const T sintheta = sin(theta); in AngleAxisToRotationMatrix() local411 R(1, 0) = wz*sintheta + wx*wy*(kOne - costheta); in AngleAxisToRotationMatrix()412 R(2, 0) = -wy*sintheta + wx*wz*(kOne - costheta); in AngleAxisToRotationMatrix()413 R(0, 1) = wx*wy*(kOne - costheta) - wz*sintheta; in AngleAxisToRotationMatrix()[all …]