56 lines
1.6 KiB
C++
56 lines
1.6 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++)\
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STATEMENT;\
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timeLog2 = clock();\
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seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;\
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cout << seconds << " seconds" << endl;\
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cout << ((double)n/seconds) << " calls/second" << endl;
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int main()
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{
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int n = 100000; long timeLog, timeLog2; 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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