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