operator_overload.cpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2008, Willow Garage, Inc.
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * * Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * * Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * * Neither the name of the Willow Garage, Inc. nor the names of its
14  * contributors may be used to endorse or promote products derived from
15  * this software without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27  * POSSIBILITY OF SUCH DAMAGE.
28  */
29 
30 #include <vector>
31 #include <sys/time.h>
32 
34 
35 
36 void seed_rand()
37 {
38  //Seed random number generator with current microseond count
39  timeval temp_time_struct;
40  gettimeofday(&temp_time_struct,NULL);
41  srand(temp_time_struct.tv_usec);
42 };
43 
44 
45 int main(int argc, char **argv){
46 
47  unsigned int runs = 400;
48  seed_rand();
49 
50  std::vector<double> xvalues(runs), yvalues(runs), zvalues(runs);
51  for ( unsigned int i = 0; i < runs ; i++ )
52  {
53  xvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
54  yvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
55  zvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
56  }
57 
58  //Useful Operator Overload
59  for ( unsigned int i = 0; i < runs ; i++ )
60  {
61  tf::Transform transform(tf::Quaternion(0,0,0), tf::Vector3(xvalues[i],yvalues[i],zvalues[i]));
62  tf::Quaternion initial(xvalues[i],yvalues[i],zvalues[i]);
63  tf::Quaternion final(xvalues[i],yvalues[i],zvalues[i]);
64  final = transform * initial;
65  std::printf("Useful Operator Overload: %f, angle between quaternions\n", initial.angle(final));
66  }
67 
68 
69  return 0;
70 }
71 
72 
int main(int argc, char **argv)
The Quaternion implements quaternion to perform linear algebra rotations in combination with Matrix3x...
Definition: Quaternion.h:28
The Transform class supports rigid transforms with only translation and rotation and no scaling/shear...
Definition: Transform.h:31
void seed_rand()
Vector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-byte...
Definition: Vector3.h:38


tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Fri Jun 7 2019 22:00:28