Example: poses_se3_lie_example

C++ example source code:

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2021, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/Lie/SE.h>

#include <iostream>

// ------------------------------------------------------
//              TestSE3
// ------------------------------------------------------
void TestSE3()
{
    using namespace mrpt;
    using namespace mrpt::poses;
    using namespace std;

    const CPose3D p0;
    const CPose3D p1(1, 2, 3, 0.0_deg, 0.0_deg, 0.0_deg);
    const CPose3D p2(1, 2, 3, 20.0_deg, 0.0_deg, 0.0_deg);

    cout << "p0: " << p0 << " SE(3)::log => " << Lie::SE<3>::log(p0) << endl;
    cout << "p1: " << p1 << " SE(3)::log => " << Lie::SE<3>::log(p1) << endl;
    cout << "p2: " << p2 << " SE(3)::log => " << Lie::SE<3>::log(p2) << endl;
}

int main()
{
    try
    {
        TestSE3();
        return 0;
    }
    catch (const std::exception& e)
    {
        std::cout << "Exception:" << mrpt::exception_to_str(e) << std::endl;
        return -1;
    }
}