operator_overload.cpp
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include <vector> 00031 #include <sys/time.h> 00032 00033 #include "LinearMath/btTransform.h" 00034 00035 00036 void seed_rand() 00037 { 00038 //Seed random number generator with current microseond count 00039 timeval temp_time_struct; 00040 gettimeofday(&temp_time_struct,NULL); 00041 srand(temp_time_struct.tv_usec); 00042 }; 00043 00044 00045 int main(int argc, char **argv){ 00046 00047 unsigned int runs = 400; 00048 seed_rand(); 00049 00050 std::vector<double> xvalues(runs), yvalues(runs), zvalues(runs); 00051 for ( unsigned int i = 0; i < runs ; i++ ) 00052 { 00053 xvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX; 00054 yvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX; 00055 zvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX; 00056 } 00057 00058 //Useful Operator Overload 00059 for ( unsigned int i = 0; i < runs ; i++ ) 00060 { 00061 btTransform transform(btQuaternion(0,0,0), btVector3(xvalues[i],yvalues[i],zvalues[i])); 00062 btQuaternion initial(xvalues[i],yvalues[i],zvalues[i]); 00063 btQuaternion final(xvalues[i],yvalues[i],zvalues[i]); 00064 final = transform * initial; 00065 std::printf("Useful Operator Overload: %f, angle between quaternions\n", initial.angle(final)); 00066 } 00067 00068 00069 return 0; 00070 } 00071 00072