diff --git a/media/libheadtracking/TestUtil.h b/media/libheadtracking/TestUtil.h
new file mode 100644
index 0000000..4636d86
--- /dev/null
+++ b/media/libheadtracking/TestUtil.h
@@ -0,0 +1,127 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#pragma once
+
+#include <gtest/gtest.h>
+
+#include "media/Pose.h"
+#include "media/Twist.h"
+
+namespace {
+
+constexpr float kPoseComparisonPrecision = 1e-5;
+
+}  // namespace
+
+// These specializations make {EXPECT,ASSERT}_{EQ,NE} work correctly for Pose3f, Twist3f, Vector3f
+// and Quaternionf.
+namespace testing {
+namespace internal {
+
+template <>
+inline AssertionResult CmpHelperEQ<android::media::Pose3f, android::media::Pose3f>(
+        const char* lhs_expression, const char* rhs_expression, const android::media::Pose3f& lhs,
+        const android::media::Pose3f& rhs) {
+    if (lhs.isApprox(rhs, kPoseComparisonPrecision)) {
+        return AssertionSuccess();
+    }
+
+    return CmpHelperEQFailure(lhs_expression, rhs_expression, lhs, rhs);
+}
+
+template <>
+inline AssertionResult CmpHelperNE<android::media::Pose3f, android::media::Pose3f>(
+        const char* lhs_expression, const char* rhs_expression, const android::media::Pose3f& lhs,
+        const android::media::Pose3f& rhs) {
+    if (!lhs.isApprox(rhs, kPoseComparisonPrecision)) {
+        return AssertionSuccess();
+    }
+
+    return CmpHelperEQFailure(lhs_expression, rhs_expression, lhs, rhs);
+}
+
+template <>
+inline AssertionResult CmpHelperEQ<android::media::Twist3f, android::media::Twist3f>(
+        const char* lhs_expression, const char* rhs_expression, const android::media::Twist3f& lhs,
+        const android::media::Twist3f& rhs) {
+    if (lhs.isApprox(rhs, kPoseComparisonPrecision)) {
+        return AssertionSuccess();
+    }
+
+    return CmpHelperEQFailure(lhs_expression, rhs_expression, lhs, rhs);
+}
+
+template <>
+inline AssertionResult CmpHelperNE<android::media::Twist3f, android::media::Twist3f>(
+        const char* lhs_expression, const char* rhs_expression, const android::media::Twist3f& lhs,
+        const android::media::Twist3f& rhs) {
+    if (!lhs.isApprox(rhs, kPoseComparisonPrecision)) {
+        return AssertionSuccess();
+    }
+
+    return CmpHelperEQFailure(lhs_expression, rhs_expression, lhs, rhs);
+}
+
+template <>
+inline AssertionResult CmpHelperEQ<Eigen::Vector3f, Eigen::Vector3f>(const char* lhs_expression,
+                                                                     const char* rhs_expression,
+                                                                     const Eigen::Vector3f& lhs,
+                                                                     const Eigen::Vector3f& rhs) {
+    if (lhs.isApprox(rhs)) {
+        return AssertionSuccess();
+    }
+
+    return CmpHelperEQFailure(lhs_expression, rhs_expression, lhs, rhs);
+}
+
+template <>
+inline AssertionResult CmpHelperNE<Eigen::Vector3f, Eigen::Vector3f>(const char* lhs_expression,
+                                                                     const char* rhs_expression,
+                                                                     const Eigen::Vector3f& lhs,
+                                                                     const Eigen::Vector3f& rhs) {
+    if (!lhs.isApprox(rhs)) {
+        return AssertionSuccess();
+    }
+
+    return CmpHelperEQFailure(lhs_expression, rhs_expression, lhs, rhs);
+}
+
+template <>
+inline AssertionResult CmpHelperEQ<Eigen::Quaternionf, Eigen::Quaternionf>(
+        const char* lhs_expression, const char* rhs_expression, const Eigen::Quaternionf& lhs,
+        const Eigen::Quaternionf& rhs) {
+    // Negating the coefs results in an equivalent quaternion.
+    if (lhs.isApprox(rhs) || lhs.isApprox(Eigen::Quaternionf(-rhs.coeffs()))) {
+        return AssertionSuccess();
+    }
+
+    return CmpHelperEQFailure(lhs_expression, rhs_expression, lhs, rhs);
+}
+
+template <>
+inline AssertionResult CmpHelperNE<Eigen::Quaternionf, Eigen::Quaternionf>(
+        const char* lhs_expression, const char* rhs_expression, const Eigen::Quaternionf& lhs,
+        const Eigen::Quaternionf& rhs) {
+    // Negating the coefs results in an equivalent quaternion.
+    if (!(lhs.isApprox(rhs) || lhs.isApprox(Eigen::Quaternionf(-rhs.coeffs())))) {
+        return AssertionSuccess();
+    }
+
+    return CmpHelperEQFailure(lhs_expression, rhs_expression, lhs, rhs);
+}
+
+}  // namespace internal
+}  // namespace testing