operator_overload.cpp
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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 Tue Jan 2 2018 03:17:40