//-------------------------------------------------------------------
bool testRotationOneAxis( const Real angle, const CoordinateAxis& axis ) {
// Form rotation about specified axis
Rotation rotationSpecified;
if( axis == XAxis ) rotationSpecified.setRotationFromAngleAboutX( angle );
if( axis == YAxis ) rotationSpecified.setRotationFromAngleAboutY( angle );
if( axis == ZAxis ) rotationSpecified.setRotationFromAngleAboutZ( angle );
// Form equivalent rotation by another means
Real unitX = axis == XAxis ? 1 : 0;
Real unitY = axis == YAxis ? 1 : 0;
Real unitZ = axis == ZAxis ? 1 : 0;
UnitVec3 unitVector( unitX, unitY, unitZ );
Rotation testRotation( angle, unitVector );
// Test to see if they are the same
bool test = rotationSpecified.areAllRotationElementsSameToMachinePrecision( testRotation );
// Do the inverse problem to back out the angle
const Real theta = rotationSpecified.convertOneAxisRotationToOneAngle( axis );
// Create a Rotation matrix with the backed-out angle and compare to the original Rotation matrix
testRotation.setRotationFromAngleAboutAxis( theta, axis );
test = test && rotationSpecified.areAllRotationElementsSameToMachinePrecision( testRotation );
// Conversion should produce angle = theta if angle is in proper range (-pi < angle <= pi)
test = test && testInverseRotation1Angle( angle, theta );
return test;
}
