@Test
public void testRecentering_yawAndPitch2() throws Exception {

  float[] matrix =
      getRotationMatrixFromAngleAxis(
          /* angleRadian= */ (float) Math.PI / 2, /* x= */ 1, /* y= */ 1, /* z= */ 0);
  float sqrt2 = (float) Math.sqrt(2);
  assertMultiplication(
      /* xr= */ sqrt2, /* yr= */ 0, /* zr= */ 0, matrix, /* x= */ 1, /* y= */ -1, /* z= */ 0);
}