34 lines
1.0 KiB
C++
34 lines
1.0 KiB
C++
#include <Eigen/Geometry>
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#include <iostream>
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using namespace std;
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typedef Eigen::Transform<double,3,Eigen::Affine> Tform3;
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typedef Eigen::Vector3d Vec3;
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typedef Eigen::Quaterniond Quat;
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int main(int argc, char * argv[])
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{
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Tform3 T;
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T =Tform3::Identity();
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cout<<"T =Tform3::Identity();"<<endl;
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cout<<"T=["<<endl<<T.affine().matrix()<<endl<<"];"<<endl;
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cout<<"T.translate(Vec3(1,2,3));"<<endl;
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T.translate(Vec3(1,2,3));
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cout<<"T=["<<endl<<T.affine().matrix()<<endl<<"];"<<endl;
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cout<<"T.rotate(Quat(0,1,0,0));"<<endl;
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T.rotate(Quat(0,1,0,0));
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cout<<"T=["<<endl<<T.affine().matrix()<<endl<<"];"<<endl;
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cout<<endl;
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T =Tform3::Identity();
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cout<<"T =Tform3::Identity();"<<endl;
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cout<<"T=["<<endl<<T.affine().matrix()<<endl<<"];"<<endl;
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cout<<"T.rotate(Quat(0,1,0,0));"<<endl;
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T.rotate(Quat(0,1,0,0));
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cout<<"T=["<<endl<<T.affine().matrix()<<endl<<"];"<<endl;
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cout<<"T.translate(Vec3(1,2,3));"<<endl;
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T.translate(Vec3(1,2,3));
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cout<<"T=["<<endl<<T.affine().matrix()<<endl<<"];"<<endl;
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cout<<endl;
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}
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