本文整理汇总了C++中QMat::print方法的典型用法代码示例。如果您正苦于以下问题：C++ QMat::print方法的具体用法？C++ QMat::print怎么用？C++ QMat::print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QMat的用法示例。
在下文中一共展示了QMat::print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: checkCollisionAlongRoad
/**
* @brief Moves a virtual copy of the robot along the road checking for enough free space around it
*
* @param innermodel ...
* @param road ...
* @param laserData ...
* @param robotRadius ...
* @return bool
*/
bool ElasticBand::checkCollisionAlongRoad(InnerModel *innermodel, const RoboCompLaser::TLaserData& laserData, WayPoints &road, WayPoints::const_iterator robot,
WayPoints::const_iterator target, float robotRadius)
{
//Simplify laser polyline using Ramer-Douglas-Peucker algorithm
std::vector<Point> points, res;
QVec wd;
for( auto &ld : laserData)
{
wd = innermodel->laserTo("world", "laser", ld.dist, ld.angle); //OPTIMIZE THIS FOR ALL CLASS METHODS
points.push_back(Point(wd.x(), wd.z()));
}
res = simPath.simplifyWithRDP(points, 70);
qDebug() << __FUNCTION__ << "laser polygon after simp" << res.size();
// Create a QPolygon so we can check if robot outline falls inside
QPolygonF polygon;
for (auto &p: res)
polygon << QPointF(p.x, p.y);
// Move the robot along the road
QVec memo = innermodel->transform6D("world","robot");
bool free = false;
for( WayPoints::const_iterator it = robot; it != target; ++it)
{
if( it->isVisible == false)
break;
// compute orientation of the robot at the point
innermodel->updateTransformValues("robot", it->pos.x(), it->pos.y(), it->pos.z(), 0, it->rot.y(), 0);
//get Robot transformation matrix
QMat m = innermodel->getTransformationMatrix("world", "robot");
// Transform all points at one
qDebug() << __FUNCTION__ << "hello2";
m.print("m");
pointsMat.print("pointsMat");
QMat newPoints = m * pointsMat;
qDebug() << __FUNCTION__ << "hello3";
//Check if they are inside the laser polygon
for( int i=0; i<newPoints.nRows(); i++)
if( polygon.containsPoint(QPointF(pointsMat(i,0)/pointsMat(i,3), pointsMat(i,2)/pointsMat(i,3)), Qt::OddEvenFill ) == false)
{
free = false;
break;
}
free = true;
}
qDebug() << __FUNCTION__ << "hello";
// Set the robot back to its original state
innermodel->updateTransformValues("robot", memo.x(), memo.y(), memo.z(), 0, memo.ry(), 0);
return free ? true : false;
}