38 lines
1.5 KiB
C++
38 lines
1.5 KiB
C++
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#include <iostream>
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#include "sophus/geometry.hpp"
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int main() {
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// The following demonstrates the group multiplication of rotation matrices
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// Create rotation matrices from rotations around the x and y and z axes:
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const double kPi = Sophus::Constants<double>::pi();
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Sophus::SO3d R1 = Sophus::SO3d::rotX(kPi / 4);
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Sophus::SO3d R2 = Sophus::SO3d::rotY(kPi / 6);
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Sophus::SO3d R3 = Sophus::SO3d::rotZ(-kPi / 3);
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std::cout << "The rotation matrices are" << std::endl;
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std::cout << "R1:\n" << R1.matrix() << std::endl;
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std::cout << "R2:\n" << R2.matrix() << std::endl;
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std::cout << "R3:\n" << R3.matrix() << std::endl;
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std::cout << "Their product R1*R2*R3:\n"
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<< (R1 * R2 * R3).matrix() << std::endl;
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std::cout << std::endl;
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// Rotation matrices can act on vectors
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Eigen::Vector3d x;
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x << 0.0, 0.0, 1.0;
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std::cout << "Rotation matrices can act on vectors" << std::endl;
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std::cout << "x\n" << x << std::endl;
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std::cout << "R2*x\n" << R2 * x << std::endl;
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std::cout << "R1*(R2*x)\n" << R1 * (R2 * x) << std::endl;
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std::cout << "(R1*R2)*x\n" << (R1 * R2) * x << std::endl;
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std::cout << std::endl;
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// SO(3) are internally represented as unit quaternions.
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std::cout << "R1 in matrix form:\n" << R1.matrix() << std::endl;
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std::cout << "R1 in unit quaternion form:\n"
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<< R1.unit_quaternion().coeffs() << std::endl;
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// Note that the order of coefficiences of Eigen's quaternion class is
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// (imag0, imag1, imag2, real)
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std::cout << std::endl;
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}
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