def METHOD_NAME(self):
    A = Pose3d(Vector3d(1, 0, 0),
               Quaterniond(0, 0, math.pi/4.0))
    B = Pose3d(Vector3d(1, 0, 0),
               Quaterniond(0, 0, math.pi/2.0))
    # test hypothesis that if
    # A is the transform from O to P specified in frame O
    # B is the transform from P to Q specified in frame P
    # then, B + A is the transform from O to Q specified in frame O
    self.assertAlmostEqual((B + A).x(), 1.0 + 1.0/math.sqrt(2))
    self.assertAlmostEqual((B + A).y(), 1.0/math.sqrt(2))
    self.assertAlmostEqual((B + A).z(), 0.0)
    self.assertAlmostEqual((B + A).roll(), 0.0)
    self.assertAlmostEqual((B + A).pitch(), 0.0)
    self.assertAlmostEqual((B + A).yaw(), 3.0*math.pi/4.0)
    # If:
    # A is the transform from O to P in frame O
    # B is the transform from O to Q in frame O
    # then -A is transform from P to O specified in frame P
    self.assertAlmostEqual((Pose3d() - A).x(), -1.0/math.sqrt(2))
    self.assertAlmostEqual((Pose3d() - A).y(), 1.0/math.sqrt(2))
    self.assertAlmostEqual((Pose3d() - A).z(), 0.0)
    self.assertAlmostEqual((Pose3d() - A).roll(),  0.0)
    self.assertAlmostEqual((Pose3d() - A).pitch(),  0.0)
    self.assertAlmostEqual((Pose3d() - A).yaw(), -math.pi/4)
    # test negation operator
    self.assertAlmostEqual((-A).x(), -1.0/math.sqrt(2))
    self.assertAlmostEqual((-A).y(), 1.0/math.sqrt(2))
    self.assertAlmostEqual((-A).z(), 0.0)
    self.assertAlmostEqual((-A).roll(), 0.0)
    self.assertAlmostEqual((-A).pitch(), 0.0)
    self.assertAlmostEqual((-A).yaw(), -math.pi/4.0)
    # If:
    # A is the transform from O to P in frame O
    # B is the transform from O to Q in frame O
    # B - A is the transform from P to Q in frame P
    B = Pose3d(Vector3d(1, 1, 0),
               Quaterniond(0, 0, math.pi/2.0))
    self.assertAlmostEqual((B - A).x(), 1.0/math.sqrt(2))
    self.assertAlmostEqual((B - A).y(), 1.0/math.sqrt(2))
    self.assertAlmostEqual((B - A).z(), 0.0)
    self.assertAlmostEqual((B - A).roll(), 0.0)
    self.assertAlmostEqual((B - A).pitch(), 0.0)
    self.assertAlmostEqual((B - A).yaw(), math.pi/4.0)
    pose = Pose3d()
    self.assertTrue(pose.pos() == Vector3d(0, 0, 0))
    self.assertTrue(pose.rot() == Quaterniond(0, 0, 0))
    pose = Pose3d(Vector3d(1, 2, 3), Quaterniond(.1, .2, .3))
    self.assertTrue(pose.pos() == Vector3d(1, 2, 3))
    self.assertTrue(pose.rot() == Quaterniond(.1, .2, .3))
    pose1 = Pose3d(pose)
    self.assertTrue(pose1 == pose)
    pose.set(Vector3d(2, 3, 4), Quaterniond(.3, .4, .5))
    self.assertTrue(pose.pos() == Vector3d(2, 3, 4))
    self.assertTrue(pose.rot() == Quaterniond(.3, .4, .5))
    self.assertTrue(pose.is_finite())
    pose1 = pose.inverse()
    self.assertTrue(pose1.pos() == Vector3d(-1.38368, -3.05541, -4.21306))
    self.assertTrue(pose1.rot() == Quaterniond(0.946281, -0.0933066,
                                               -0.226566, -0.210984))
    pose = Pose3d(1, 2, 3, .1, .2, .3) + Pose3d(4, 5, 6, .4, .5, .6)
    self.assertTrue(pose == Pose3d(5.74534, 7.01053, 8.62899,
                                   0.675732, 0.535753, 1.01174))
    pose += pose
    self.assertTrue(pose == Pose3d(11.314, 16.0487, 15.2559,
                                   1.49463, 0.184295, 2.13932))
    pose -= Pose3d(pose)
    self.assertTrue(pose == Pose3d(0, 0, 0, 0, 0, 0))
    pose.pos().set(5, 6, 7)
    pose.rot().set_from_euler(Vector3d(.4, .6, 0))
    self.assertTrue(pose.coord_position_add(Vector3d(1, 2, 3)) ==
                    Vector3d(7.82531, 6.67387, 9.35871))
    self.assertTrue(pose.coord_position_add(pose1) ==
                    Vector3d(2.58141, 2.4262, 3.8013))
    self.assertTrue(pose.coord_rotation_add(Quaterniond(0.1, 0, 0.2)) ==
                    Quaterniond(0.520975, 0.596586, 0.268194))
    self.assertTrue(pose.coord_pose_solve(pose1) ==
                    Pose3d(-0.130957, -11.552, -10.2329,
                    -0.462955, -1.15624, -0.00158047))
    self.assertTrue(pose.rotate_position_about_origin(
                    Quaterniond(0.1, 0, 0.2)) ==
                    Pose3d(6.09235, 5.56147, 6.47714, 0.4, 0.6, 0))
    pose.reset()
    self.assertTrue(pose.pos() == Vector3d(0, 0, 0))
    self.assertTrue(pose.rot() == Quaterniond(0, 0, 0))