56 lines
1.9 KiB
C++
56 lines
1.9 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file timeRot3.cpp
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* @brief time Rot3 functions
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* @author Frank Dellaert
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*/
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#include <time.h>
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#include <iostream>
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#include <gtsam/geometry/Rot3.h>
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using namespace std;
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using namespace gtsam;
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#define TEST(TITLE, STATEMENT) \
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cout << endl << TITLE << endl; \
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timeLog = clock(); \
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for (int i = 0; i < n; i++) STATEMENT; \
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timeLog2 = clock(); \
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seconds = static_cast<double>(timeLog2 - timeLog) / CLOCKS_PER_SEC; \
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cout << 1000 * seconds << " milliseconds" << endl; \
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cout << (1e9 * seconds / static_cast<double>(n)) << " nanosecs/call" << endl;
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int main() {
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int n = 100000;
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clock_t timeLog, timeLog2;
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double seconds;
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// create a random direction:
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double norm = sqrt(1.0 + 16.0 + 4.0);
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double x = 1.0 / norm, y = 4.0 / norm, z = 2.0 / norm;
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Vector v = (Vector(3) << x, y, z).finished();
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Rot3 R = Rot3::Rodrigues(0.1, 0.4, 0.2), R2 = R.retract(v);
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TEST("Rodriguez formula given axis angle", Rot3::AxisAngle(v, 0.001))
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TEST("Rodriguez formula given canonical coordinates", Rot3::Rodrigues(v))
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TEST("Expmap", R * Rot3::Expmap(v))
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TEST("Retract", R.retract(v))
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TEST("Logmap", Rot3::Logmap(R.between(R2)))
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TEST("localCoordinates", R.localCoordinates(R2))
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TEST("Slow rotation matrix", Rot3::Rz(z) * Rot3::Ry(y) * Rot3::Rx(x))
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TEST("Fast Rotation matrix", Rot3::RzRyRx(x, y, z))
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return 0;
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}
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