33     Pose3f pose;  in TEST()  local
34     EXPECT_EQ(pose.translation(), Vector3f::Zero());  in TEST()
35     EXPECT_EQ(pose.rotation(), Quaternionf::Identity());  in TEST()
40     Pose3f pose(rot);  in TEST()  local
41     EXPECT_EQ(pose.translation(), Vector3f::Zero());  in TEST()
42     EXPECT_EQ(pose.rotation(), rot);  in TEST()
47     Pose3f pose(trans);  in TEST()  local
48     EXPECT_EQ(pose.translation(), trans);  in TEST()
49     EXPECT_EQ(pose.rotation(), Quaternionf::Identity());  in TEST()
55     Pose3f pose(trans, rot);  in TEST()  local
56     EXPECT_EQ(pose.translation(), trans);  in TEST()
57     EXPECT_EQ(pose.rotation(), rot);  in TEST()
61     Pose3f pose({1, 2, 3}, Quaternionf::UnitRandom());  in TEST()  local
62     EXPECT_EQ(pose.inverse() * pose, Pose3f());  in TEST()
63     EXPECT_EQ(pose * pose.inverse(), Pose3f());  in TEST()
116     std::optional<Pose3f> pose = Pose3f::fromVector(vec);  in TEST()  local
117     ASSERT_TRUE(pose.has_value());  in TEST()
118     std::vector<float> reconstructed = pose->toVector();  in TEST()
123     Pose3f pose({1, 2, 3}, Quaternionf::UnitRandom());  in TEST()  local
124     std::vector<float> vec = pose.toVector();  in TEST()
127     EXPECT_EQ(pose, reconstructed.value());  in TEST()