@Test
public void testRecentering_yawAndPitch() throws Exception {

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