MRPT
2.0.4
test.cpp
Go to the documentation of this file.
1
/* +------------------------------------------------------------------------+
2
| Mobile Robot Programming Toolkit (MRPT) |
3
| https://www.mrpt.org/ |
4
| |
5
| Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6
| See: https://www.mrpt.org/Authors - All rights reserved. |
7
| Released under BSD License. See: https://www.mrpt.org/License |
8
+------------------------------------------------------------------------+ */
9
10
#include <
mrpt/poses/CPose3D.h
>
11
#include <
mrpt/poses/Lie/SE.h
>
12
#include <iostream>
13
14
// ------------------------------------------------------
15
// TestSE3
16
// ------------------------------------------------------
17
void
TestSE3
()
18
{
19
using namespace
mrpt
;
20
using namespace
mrpt::poses
;
21
using namespace
std;
22
23
const
CPose3D
p0;
24
const
CPose3D
p1(1, 2, 3, 0.0_deg, 0.0_deg, 0.0_deg);
25
const
CPose3D
p2(1, 2, 3, 20.0_deg, 0.0_deg, 0.0_deg);
26
27
cout <<
"p0: "
<< p0 <<
" SE(3)::log => "
<<
Lie::SE<3>::log
(p0) << endl;
28
cout <<
"p1: "
<< p1 <<
" SE(3)::log => "
<<
Lie::SE<3>::log
(p1) << endl;
29
cout <<
"p2: "
<< p2 <<
" SE(3)::log => "
<<
Lie::SE<3>::log
(p2) << endl;
30
}
31
32
int
main
()
33
{
34
try
35
{
36
TestSE3
();
37
return
0;
38
}
39
catch
(
const
std::exception& e)
40
{
41
std::cout <<
"Exception:"
<<
mrpt::exception_to_str
(e) << std::endl;
42
return
-1;
43
}
44
}
SE.h
mrpt
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Definition:
BaseAppDataSource.h:15
mrpt::poses
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
Definition:
CHierarchicalMapMHPartition.h:22
main
int main()
Definition:
vision_stereo_rectify/test.cpp:78
mrpt::poses::CPose3D
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition:
CPose3D.h:85
TestSE3
void TestSE3()
Definition:
vision_stereo_rectify/test.cpp:17
mrpt::poses::Lie::SE
Traits for SE(n), rigid-body transformations in R^n space.
Definition:
SE.h:30
CPose3D.h
mrpt::exception_to_str
std::string exception_to_str(const std::exception &e)
Builds a nice textual representation of a nested exception, which if generated using MRPT macros (THR...
Definition:
exceptions.cpp:59
Page generated by
Doxygen 1.8.17
for MRPT 2.0.4 at Sun Jul 19 15:15:43 UTC 2020