73   VERIFY_IS_APPROX(Quaternionx(Quaternionx::Identity()).coeffs(), q2.coeffs());  in quaternion()
75   VERIFY_IS_APPROX(q1.coeffs(), (q1*q2).coeffs());  in quaternion()
94   VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);  in quaternion()
95   VERIFY_IS_APPROX(q1 * q2 * v2,  in quaternion()
102   VERIFY_IS_APPROX(q1*v1,q2*v1);  in quaternion()
105   VERIFY_IS_APPROX(q1*v1,rot1*v1);  in quaternion()
107   VERIFY_IS_APPROX(q3*v1,v1);  in quaternion()
112   VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);  in quaternion()
124   VERIFY_IS_APPROX( v2.normalized(),(q2.setFromTwoVectors(v1, v2)*v1).normalized());  in quaternion()
125   VERIFY_IS_APPROX( v1.normalized(),(q2.setFromTwoVectors(v1, v1)*v1).normalized());  in quaternion()
126   VERIFY_IS_APPROX(-v1.normalized(),(q2.setFromTwoVectors(v1,-v1)*v1).normalized());  in quaternion()
130     VERIFY_IS_APPROX( v3.normalized(),(q2.setFromTwoVectors(v1, v3)*v1).normalized());  in quaternion()
131     VERIFY_IS_APPROX(-v3.normalized(),(q2.setFromTwoVectors(v1,-v3)*v1).normalized());  in quaternion()
135   VERIFY_IS_APPROX( v2.normalized(),(Quaternionx::FromTwoVectors(v1, v2)*v1).normalized());  in quaternion()
136   VERIFY_IS_APPROX( v1.normalized(),(Quaternionx::FromTwoVectors(v1, v1)*v1).normalized());  in quaternion()
137   VERIFY_IS_APPROX(-v1.normalized(),(Quaternionx::FromTwoVectors(v1,-v1)*v1).normalized());  in quaternion()
141     VERIFY_IS_APPROX( v3.normalized(),(Quaternionx::FromTwoVectors(v1, v3)*v1).normalized());  in quaternion()
142     VERIFY_IS_APPROX(-v3.normalized(),(Quaternionx::FromTwoVectors(v1,-v3)*v1).normalized());  in quaternion()
146   VERIFY_IS_APPROX(q1 * (q1.inverse() * v1), v1);  in quaternion()
147   VERIFY_IS_APPROX(q1 * (q1.conjugate() * v1), v1);  in quaternion()
151   VERIFY_IS_APPROX(q1f.template cast<Scalar>(),q1);  in quaternion()
153   VERIFY_IS_APPROX(q1d.template cast<Scalar>(),q1);  in quaternion()
210   VERIFY_IS_APPROX(q1.coeffs(), q2.coeffs());  in mapQuaternion()
211   VERIFY_IS_APPROX(q1.coeffs(), q3.coeffs());  in mapQuaternion()
212   VERIFY_IS_APPROX(q4.coeffs(), q3.coeffs());  in mapQuaternion()
218   VERIFY_IS_APPROX(mq1 * (mq1.inverse() * v1), v1);  in mapQuaternion()
219   VERIFY_IS_APPROX(mq1 * (mq1.conjugate() * v1), v1);  in mapQuaternion()
221   VERIFY_IS_APPROX(mcq1 * (mcq1.inverse() * v1), v1);  in mapQuaternion()
222   VERIFY_IS_APPROX(mcq1 * (mcq1.conjugate() * v1), v1);  in mapQuaternion()
224   VERIFY_IS_APPROX(mq3 * (mq3.inverse() * v1), v1);  in mapQuaternion()
225   VERIFY_IS_APPROX(mq3 * (mq3.conjugate() * v1), v1);  in mapQuaternion()
227   VERIFY_IS_APPROX(mcq3 * (mcq3.inverse() * v1), v1);  in mapQuaternion()
228   VERIFY_IS_APPROX(mcq3 * (mcq3.conjugate() * v1), v1);  in mapQuaternion()
230   VERIFY_IS_APPROX(mq1*mq2, q1*q2);  in mapQuaternion()
231   VERIFY_IS_APPROX(mq3*mq2, q3*q2);  in mapQuaternion()
232   VERIFY_IS_APPROX(mcq1*mq2, q1*q2);  in mapQuaternion()
233   VERIFY_IS_APPROX(mcq3*mq2, q3*q2);  in mapQuaternion()
253   VERIFY_IS_APPROX(q1->coeffs(), q2->coeffs());  in quaternionAlignment()
254   VERIFY_IS_APPROX(q1->coeffs(), q3->coeffs());  in quaternionAlignment()