本文整理汇总了C++中Pose3D::setAxisAngle方法的典型用法代码示例。如果您正苦于以下问题：C++ Pose3D::setAxisAngle方法的具体用法？C++ Pose3D::setAxisAngle怎么用？C++ Pose3D::setAxisAngle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Pose3D的用法示例。
在下文中一共展示了Pose3D::setAxisAngle方法的1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: main
int main(void)
{
Pose3D pz;
pz.setAxisAngle(0,1,0, M_PI/3);
pz.setPosition(0,2,0);
Pose3D pz2;
pz2.setAxisAngle(0,1,0, M_PI/2 - M_PI/3);
pz2.setPosition(0,1,0);
pz.multiplyPose(pz2);
cout << pz;
NEWMAT::Matrix m = pz.asMatrix();
cout << m;
Position p;
p.x = 0;
p.y = 0;
p.z = 1;
pz.applyToPosition(p);
printf("After rotate: %f %f %f\n", p.x, p.y, p.z);
cout << endl;
for (int ind = 0; ind < 2; ind++)
{
bool caching;
if (ind == 0) {
caching = true;
std::cout << "Caching Mode"<<std::endl;
}
else {
caching = false;
std::cout << std::endl<<std::endl<<std::endl<<"Not Caching Mode" <<std::endl;
}
double dx,dy,dz,dyaw,dp,dr;
std::cout <<"Creating TransformReference" << std::endl;
TransformReference mTR(caching);
dx = dy= dz = 0;
dyaw = dp = dr = 0.1;
uint64_t atime;
timeval temp_time_struct;
gettimeofday(&temp_time_struct,NULL);
atime = temp_time_struct.tv_sec * 1000000000ULL + (uint64_t)temp_time_struct.tv_usec * 1000ULL;
std::cout <<"Setting values" << std::endl;
//Fill in some transforms
// mTR.setWithEulers(10,2,1,1,1,dyaw,dp,dr,atime); //Switching out for DH params below
mTR.setWithDH("10","2",1.0,1.0,1.0,dyaw,atime);
//mTR.setWithEulers("2","3",1-1,1,1,dyaw,dp,dr,atime-1000);
mTR.setWithEulers("2","3",1,1,1,dyaw,dp,dr,atime-100);
mTR.setWithEulers("2","3",1,1,1,dyaw,dp,dr,atime-50);
mTR.setWithEulers("2","3",1,1,1,dyaw,dp,dr,atime-1000);
mTR.setWithEulers("2","3",1,1,1,dyaw,dp,dr,atime+500);
mTR.setWithEulers("2","3",1+100,1,1,dyaw,dp,dr,atime+1000);
mTR.setWithEulers("2","3",1,1,1,dyaw,dp,dr,atime+1100);
mTR.setWithEulers("3","5",dx,dy,dz,dyaw,dp,dr,atime);
mTR.setWithEulers("5","1",dx,dy,dz,dyaw,dp,dr,atime);
mTR.setWithEulers("6","5",dx,dy,dz,dyaw,dp,dr,atime);
mTR.setWithEulers("6","5",dx,dy,dz,dyaw,dp,dr,atime);
mTR.setWithEulers("7","6",1,1,1,dyaw,dp,dr,atime);
mTR.setWithDH("8","7",1.0,1.0,1.0,dyaw,atime);
//mTR.setWithEulers("8","7",1,1,1,dyaw,dp,dr,atime); //Switching out for DH params above
std::cout <<"Trying some tests" << std::endl;
//Demonstrate InvalidFrame LookupException
try
{
std::cout<< mTR.viewChain("10","9");
}
catch (TransformReference::LookupException &ex)
{
std::cout << "Caught " << ex.what()<<std::endl;
}
// See the list of transforms to get between the frames
std::cout<<"Viewing (10,8):"<<std::endl;
std::cout << mTR.viewChain("10","8");
//See the resultant transform
std::cout <<"Calling getMatrix(10,8)"<<std::endl;
// NEWMAT::Matrix mat = mTR.getMatrix(1,1);
NEWMAT::Matrix mat = mTR.getMatrix("10","8",atime);
//.........这里部分代码省略.........