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composed.cc
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19 // instantiate templates or use macros or inline functions from this
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24 // executable file might be covered by the GNU General Public License.
25 
26 #include <iostream>
27 
28 #include <mln/fun/x2x/translation.hh>
29 #include <mln/fun/x2x/rotation.hh>
30 #include <mln/fun/x2x/composed.hh>
31 #include <mln/fun/i2v/all_to.hh>
32 
33 
34 int main()
35 {
36  using namespace mln;
37 
38  float
39  a = 2.3,
40  b = 0,
41  c = 2.9;
42 
43  algebra::vec<3,float> vec1 = make::vec(a, b, c);
46  axis.set(0, 1, 0);
47  fun::x2x::rotation<3,float> rot(0.3, axis);
48 
49  std::cout << "vec : " << vec1 << std::endl;
50  std::cout << "tr(vec) : " << tr(vec1) << std::endl;
51  std::cout << "rot(vec) : " << rot(vec1) << std::endl;
52  std::cout << "tr(rot(vec)) : " << compose(tr, rot)(vec1) << std::endl;
53  std::cout << "rot(rot_1(vec)) : " << compose(rot, rot.inv())(vec1)
54  << std::endl;
55  std::cout << "tr(rot(tr(vec))) : " << compose(tr, compose(rot, tr))(vec1)
56  << std::endl;
57  std::cout << "(rototr_1)(rot(tr(vec)))) : "
58  << compose(compose(rot, tr).inv(), compose(rot, tr))(vec1)
59  << std::endl;
60  mln_assertion(fabs(compose(rot, tr)(vec1)[0] - rot(tr(vec1))[0]) <= 0.125);
61  mln_assertion(fabs(compose(rot, tr)(vec1)[1] - rot(tr(vec1))[1]) <= 0.125);
62  mln_assertion(fabs(compose(rot, tr)(vec1)[2] - rot(tr(vec1))[2]) <= 0.125);
63 }