00001
00002 #include "uvsim/utilities/utilities.h"
00003 #include <iostream>
00004 #include <ctime>
00005 using namespace boost::numeric::ublas;
00006 int main (int argc, char const* argv[])
00007 {
00008 vector<double> vec = zero_vector<double>(3);
00009 vector<double> vecRot = zero_vector<double>(3);
00010 vector<double> quat = zero_vector<double>(4);
00011 vector<double> euler = zero_vector<double>(3);
00012
00013 euler(2) = (3.14/2);
00014
00015 vec(0)=1;
00016
00017 quat = uvsim::euler2Quat(euler);
00018 vecRot = uvsim::quatRotate(quat, vec);
00019
00020
00021 std::cout<<"quat- "<<quat<<std::endl;
00022 std::cout<<"vec- "<<vec<<std::endl;
00023 std::cout<<"vecRot- "<<vecRot<<std::endl;
00024
00025 }
00026
