本文整理汇总了C++中Pose::FromFrame方法的典型用法代码示例。如果您正苦于以下问题：C++ Pose::FromFrame方法的具体用法？C++ Pose::FromFrame怎么用？C++ Pose::FromFrame使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Pose的用法示例。
在下文中一共展示了Pose::FromFrame方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: controller
PlanarRangeVis2(Pose plane_pose, LegController<n_joints>* controller, double samples_per_unit, double max_range) : controller(controller), point(point), normal(normal) {
double d_r = 1.0/samples_per_unit;
Eigen::Vector3d center = (point.dot(normal) / normal.squaredNorm()) * normal;
/*
double yaw = atan2(normal[1], normal[0]);
double pitch = atan2(normal[2], sqrt(normal[0]*normal[0] + normal[1]*normal[1]));
center_pose = Pose(center[0], center[1], center[2], yaw, pitch, 0);
*/
center_pose = plane_pose;
center_pose.x = center[0];
center_pose.y = center[1];
center_pose.z = center[2];
double angles[n_joints];
for (double x = -max_range; x < max_range; x += d_r) {
for (double y = -max_range; y < max_range; y += d_r) {
Eigen::Vector3d goal = Vector4dTo3d(center_pose.FromFrame(Eigen::Vector4d(0.0, x, y, 1.0)));
plane_query_scores.push_back(controller->GetJointCommands(goal, angles));
plane_query.push_back(goal);
}
}
}示例2: operator
double operator() (const column_vector& arg) const {
double angles[n_joints];
Eigen::Vector3d goal = Vector4dTo3d(center_pose.FromFrame(Eigen::Vector4d(0.0, arg(0), arg(1), 1.0)));
double score = controller->GetJointCommands(goal, angles);
return score;
}