@Test
public void testConvertsAngleAxisToRotationMatrix() throws Exception {

  doTestAngleAxisToRotationMatrix(/* angleRadian= */ 0, /* x= */ 1, /* y= */ 0, /* z= */ 0);
  frameRotationQueue.reset();
  doTestAngleAxisToRotationMatrix(/* angleRadian= */ 1, /* x= */ 1, /* y= */ 0, /* z= */ 0);
  frameRotationQueue.reset();
  doTestAngleAxisToRotationMatrix(/* angleRadian= */ 1, /* x= */ 0, /* y= */ 0, /* z= */ 1);
  // Don't reset frameRotationQueue as we use recenter matrix from previous calls.
  doTestAngleAxisToRotationMatrix(/* angleRadian= */ -1, /* x= */ 0, /* y= */ 1, /* z= */ 0);
  doTestAngleAxisToRotationMatrix(/* angleRadian= */ 1, /* x= */ 1, /* y= */ 1, /* z= */ 1);
}