24 using android::media::Pose3f;
33     Pose3f pose;  in TEST()
40     Pose3f pose(rot);  in TEST()
47     Pose3f pose(trans);  in TEST()
55     Pose3f pose(trans, rot);  in TEST()
61     Pose3f pose({1, 2, 3}, Quaternionf::UnitRandom());  in TEST()
62     EXPECT_EQ(pose.inverse() * pose, Pose3f());  in TEST()
63     EXPECT_EQ(pose * pose.inverse(), Pose3f());  in TEST()
69     EXPECT_EQ(Pose3f({1, 2, 3}, rotationVectorToQuaternion({4, 5, 6})),  in TEST()
70               Pose3f({1 + eps, 2 + eps, 3 + eps},  in TEST()
73     EXPECT_NE(Pose3f({1, 2, 3}, rotationVectorToQuaternion({4, 5, 6})),  in TEST()
74               Pose3f({1.01, 2, 3}, rotationVectorToQuaternion({4, 5, 6})));  in TEST()
76     EXPECT_NE(Pose3f({1, 2, 3}, rotationVectorToQuaternion({4, 5, 6})),  in TEST()
77               Pose3f({1, 2, 3}, rotationVectorToQuaternion({4.01, 5, 6})));  in TEST()
81     Pose3f p1({1, 2, 3}, rotateZ(M_PI_2));  in TEST()
82     Pose3f p2({4, 5, 6}, rotateX(M_PI_2));  in TEST()
83     Pose3f p3({-4, 6, 9}, p1.rotation() * p2.rotation());  in TEST()
88     Pose3f from({1, 1, 1}, Quaternionf::Identity());  in TEST()
89     Pose3f to({1, 1, 2}, rotateZ(M_PI_2));  in TEST()
96     Pose3f from({1, 1, 1}, Quaternionf::Identity());  in TEST()
97     Pose3f to({1, 1, 2}, rotateZ(M_PI_2));  in TEST()
99     Pose3f expected({1, 1, 1.5f}, rotateZ(M_PI_4));  in TEST()
105     Pose3f from({1, 1, 1}, Quaternionf::Identity());  in TEST()
106     Pose3f to({1, 1, 2}, rotateZ(M_PI_2));  in TEST()
108     Pose3f expected({1, 1, 1.5f}, rotateZ(M_PI_4));  in TEST()
116     std::optional<Pose3f> pose = Pose3f::fromVector(vec);  in TEST()
123     Pose3f pose({1, 2, 3}, Quaternionf::UnitRandom());  in TEST()
125     std::optional<Pose3f> reconstructed = Pose3f::fromVector(vec);  in TEST()
131     EXPECT_FALSE(Pose3f::fromVector({}).has_value());  in TEST()
132     EXPECT_FALSE(Pose3f::fromVector({1, 2, 3, 4, 5}).has_value());  in TEST()
133     EXPECT_FALSE(Pose3f::fromVector({1, 2, 3, 4, 5, 6, 7}).has_value());  in TEST()