operator_overload.cpp
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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 "tf/LinearMath/Transform.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     tf::Transform transform(tf::Quaternion(0,0,0), tf::Vector3(xvalues[i],yvalues[i],zvalues[i]));
00062     tf::Quaternion initial(xvalues[i],yvalues[i],zvalues[i]);
00063     tf::Quaternion 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 


tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Sat Feb 24 2018 03:56:42