71   Quaternionx q1, q2;  in quaternion()  local
72   q2.setIdentity();  in quaternion()
73   VERIFY_IS_APPROX(Quaternionx(Quaternionx::Identity()).coeffs(), q2.coeffs());  in quaternion()
75   VERIFY_IS_APPROX(q1.coeffs(), (q1*q2).coeffs());  in quaternion()
78   q1 *= q2;  in quaternion()
81   q2 = AngleAxisx(a, v1.normalized());  in quaternion()
84   Scalar refangle = abs(AngleAxisx(q1.inverse()*q2).angle());  in quaternion()
88   if((q1.coeffs()-q2.coeffs()).norm() > 10*largeEps)  in quaternion()
90     VERIFY_IS_MUCH_SMALLER_THAN(abs(q1.angularDistance(q2) - refangle), Scalar(1));  in quaternion()
95   VERIFY_IS_APPROX(q1 * q2 * v2,  in quaternion()
96     q1.toRotationMatrix() * q2.toRotationMatrix() * v2);  in quaternion()
98   VERIFY(  (q2*q1).isApprox(q1*q2, largeEps)  in quaternion()
99         || !(q2 * q1 * v2).isApprox(q1.toRotationMatrix() * q2.toRotationMatrix() * v2));  in quaternion()
101   q2 = q1.toRotationMatrix();  in quaternion()
102   VERIFY_IS_APPROX(q1*v1,q2*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()
160   q2 = Quaternionx::UnitRandom();  in quaternion()
161   check_slerp(q1,q2);  in quaternion()
164   q2 = AngleAxisx(b+Scalar(EIGEN_PI), v1.normalized());  in quaternion()
165   check_slerp(q1,q2);  in quaternion()
168   q2 = AngleAxisx(-b, -v1.normalized());  in quaternion()
169   check_slerp(q1,q2);  in quaternion()
172   q2.coeffs() = -q1.coeffs();  in quaternion()
173   check_slerp(q1,q2);  in quaternion()
206   Quaternionx q2 = mq2;  in mapQuaternion()  local
210   VERIFY_IS_APPROX(q1.coeffs(), q2.coeffs());  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()
246   QuaternionUA *q2 = ::new(reinterpret_cast<void*>(array2)) QuaternionUA;  in quaternionAlignment()  local
250   *q2 = *q1;  in quaternionAlignment()
253   VERIFY_IS_APPROX(q1->coeffs(), q2->coeffs());  in quaternionAlignment()