27   typedef typename QuatType::Scalar Scalar;  in check_slerp()  typedef
28   typedef AngleAxis<Scalar> AA;  in check_slerp()
30   Scalar largeEps = test_precision<Scalar>();  in check_slerp()
32   Scalar theta_tot = AA(q1*q0.inverse()).angle();  in check_slerp()
33   if(theta_tot>Scalar(EIGEN_PI))  in check_slerp()
34     theta_tot = Scalar(2.)*Scalar(EIGEN_PI)-theta_tot;  in check_slerp()
35   for(Scalar t=0; t<=Scalar(1.001); t+=Scalar(0.1))  in check_slerp()
38     Scalar theta = AA(q*q0.inverse()).angle();  in check_slerp()
45 template<typename Scalar, int Options> void quaternion(void)  in quaternion()
51   typedef Matrix<Scalar,3,1> Vector3;  in quaternion()
52   typedef Matrix<Scalar,3,3> Matrix3;  in quaternion()
53   typedef Quaternion<Scalar,Options> Quaternionx;  in quaternion()
54   typedef AngleAxis<Scalar> AngleAxisx;  in quaternion()
56   Scalar largeEps = test_precision<Scalar>();  in quaternion()
57   if (internal::is_same<Scalar,float>::value)  in quaternion()
58     largeEps = Scalar(1e-3);  in quaternion()
60   Scalar eps = internal::random<Scalar>() * Scalar(1e-2);  in quaternion()
67   Scalar  a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI)),  in quaternion()
68           b = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));  in quaternion()
84   Scalar refangle = abs(AngleAxisx(q1.inverse()*q2).angle());  in quaternion()
85   if (refangle>Scalar(EIGEN_PI))  in quaternion()
86     refangle = Scalar(2)*Scalar(EIGEN_PI) - refangle;  in quaternion()
90     VERIFY_IS_MUCH_SMALLER_THAN(abs(q1.angularDistance(q2) - refangle), Scalar(1));  in quaternion()
116   if (abs(aa.angle()) > 5*test_precision<Scalar>()  in quaternion()
117       && (aa.axis() - v1.normalized()).norm() < Scalar(1.99)  in quaternion()
118       && (aa.axis() + v1.normalized()).norm() < Scalar(1.99))  in quaternion()
127   if (internal::is_same<Scalar,double>::value)  in quaternion()
138   if (internal::is_same<Scalar,double>::value)  in quaternion()
151   VERIFY_IS_APPROX(q1f.template cast<Scalar>(),q1);  in quaternion()
153   VERIFY_IS_APPROX(q1d.template cast<Scalar>(),q1);  in quaternion()
164   q2 = AngleAxisx(b+Scalar(EIGEN_PI), v1.normalized());  in quaternion()
176 template<typename Scalar> void mapQuaternion(void){  in mapQuaternion()
177   typedef Map<Quaternion<Scalar>, Aligned> MQuaternionA;  in mapQuaternion()
178   typedef Map<const Quaternion<Scalar>, Aligned> MCQuaternionA;  in mapQuaternion()
179   typedef Map<Quaternion<Scalar> > MQuaternionUA;  in mapQuaternion()
180   typedef Map<const Quaternion<Scalar> > MCQuaternionUA;  in mapQuaternion()
181   typedef Quaternion<Scalar> Quaternionx;  in mapQuaternion()
182   typedef Matrix<Scalar,3,1> Vector3;  in mapQuaternion()
183   typedef AngleAxis<Scalar> AngleAxisx;  in mapQuaternion()
187   Scalar  a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));  in mapQuaternion()
189   EIGEN_ALIGN_MAX Scalar array1[4];  in mapQuaternion()
190   EIGEN_ALIGN_MAX Scalar array2[4];  in mapQuaternion()
191   EIGEN_ALIGN_MAX Scalar array3[4+1];  in mapQuaternion()
192   Scalar* array3unaligned = array3+1;  in mapQuaternion()
214   if(internal::packet_traits<Scalar>::Vectorizable)  in mapQuaternion()
236 template<typename Scalar> void quaternionAlignment(void){  in quaternionAlignment()
237   typedef Quaternion<Scalar,AutoAlign> QuaternionA;  in quaternionAlignment()
238   typedef Quaternion<Scalar,DontAlign> QuaternionUA;  in quaternionAlignment()
240   EIGEN_ALIGN_MAX Scalar array1[4];  in quaternionAlignment()
241   EIGEN_ALIGN_MAX Scalar array2[4];  in quaternionAlignment()
242   EIGEN_ALIGN_MAX Scalar array3[4+1];  in quaternionAlignment()
243   Scalar* arrayunaligned = array3+1;  in quaternionAlignment()
256   if(internal::packet_traits<Scalar>::Vectorizable && internal::packet_traits<Scalar>::size<=4)  in quaternionAlignment()