11 int main(
int argc,
char** argv) {
18 point3d origin (0.01f, 0.01f, 0.02f);
19 point3d point_on_surface (4.01f, 0.01f, 0.01f);
21 cout <<
"generating spherical scan at " << origin <<
" ..." << endl;
25 for (
int i=-100; i<101; i++) {
26 for (
int j=-100; j<101; j++) {
27 point3d rotated = point_on_surface;
36 cout <<
"done." << endl;
37 cout <<
"writing to spherical_scan.bt..." << endl;
void push_back(float x, float y, float z)
virtual void insertPointCloud(const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)
Vector3 & rotate_IP(double roll, double pitch, double yaw)
bool writeBinary(const std::string &filename)
int main(int argc, char **argv)
This class represents a three-dimensional vector.