58     float pitch, roll, yaw;  in TEST()  local
65         quaternionToAngles(rotationVectorToQuaternion({angle, 0.f, 0.f}), &pitch, &roll, &yaw);  in TEST()
68         EXPECT_NEAR(0.f, yaw, NEAR);  in TEST()
70         quaternionToAngles(rotationVectorToQuaternion({0.f, angle, 0.f}), &pitch, &roll, &yaw);  in TEST()
73         EXPECT_NEAR(0.f, yaw, NEAR);  in TEST()
75         quaternionToAngles(rotationVectorToQuaternion({0.f, 0.f, angle}), &pitch, &roll, &yaw);  in TEST()
78         EXPECT_NEAR(angle, yaw, NEAR);  in TEST()
83             rotationVectorToQuaternion({M_PI, 0.f, 0.f}), &pitch, &roll, &yaw);  in TEST()
88     float pitch, roll, yaw;  in TEST()  local
102             quaternionToAngles(world_z * q, &pitch, &roll, &yaw);  in TEST()
115             quaternionToAngles(world_z * q, &pitch, &roll, &yaw);  in TEST()
132             quaternionToAngles(q * world_z_intrinsic, &pitch, &roll, &yaw);  in TEST()