quaternion.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 #include <cstdio> 00033 00034 #include "LinearMath/btTransform.h" 00035 00036 00037 void seed_rand() 00038 { 00039 //Seed random number generator with current microseond count 00040 timeval temp_time_struct; 00041 gettimeofday(&temp_time_struct,NULL); 00042 srand(temp_time_struct.tv_usec); 00043 }; 00044 00045 00046 int main(int argc, char **argv){ 00047 00048 unsigned int runs = 400; 00049 seed_rand(); 00050 00051 std::vector<double> xvalues(runs), yvalues(runs), zvalues(runs); 00052 for ( unsigned int i = 0; i < runs ; i++ ) 00053 { 00054 xvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX; 00055 yvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX; 00056 zvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX; 00057 } 00058 00059 00060 for ( unsigned int i = 0; i < runs ; i++ ) 00061 { 00062 btMatrix3x3 mat; 00063 btQuaternion q_baseline; 00064 q_baseline.setRPY(zvalues[i],yvalues[i],xvalues[i]); 00065 mat.setRotation(q_baseline); 00066 btQuaternion q_from_m; 00067 mat.getRotation(q_from_m); 00068 std::printf("%f, angle between quaternions\n", q_from_m.angle(q_baseline)); 00069 } 00070 00071 return 0; 00072 } 00073 00074