TEST_F(QuaternionTest, UprightQuaternionFromEulerAngles) { set(0.966, 0.259, 0, 0); EulerAngles ea = quaternion.uprightToEulerAngles(); Quaternion q = ea.toUprightQuaternion(); assertClose(q, 0.966, 0.259, 0, 0); }