少有人走的路本例子只有旋转，没有平移
#include <iostream>
#include <GTEngine/Mathematics/GteConvertCoordinates.h>
using namespace gte;
// #define Vector4<double> Vector<4, double>
int main(int argc, char const *argv[])
{
// // Affine change of basis.
ConvertCoordinates<4, double> convert;
Vector<4, double> X, Y, P0, P1, diff;
Matrix<4, 4, double> U, V, A, B;
bool isRHU, isRHV;
// U.SetCol(0, Vector<4, double>{1.0, 0.0, 0.0, 0.0});
// U.SetCol(1, Vector<4, double>{0.0, 1.0, 0.0, 0.0});
// U.SetCol(2, Vector<4, double>{0.0, 0.0, 1.0, 0.0});
// U.SetCol(3, Vector<4, double>{0.0, 0.0, 0.0, 1.0});
// V.SetCol(0, Vector<4, double>{0.866, 0.5, 0.0, 0.0});
// V.SetCol(1, Vector<4, double>{-0.5, 0.866, 0.0, 0.0});
// V.SetCol(2, Vector<4, double>{0.0, 0.0, 1.0, 0.0});
// V.SetCol(3, Vector<4, double>{0.0, 0.0, 0.0, 1.0});
V.SetCol(0, Vector<4, double>{1.0, 0.0, 0.0, 0.0});
V.SetCol(1, Vector<4, double>{0.0, 1.0, 0.0, 0.0});
V.SetCol(2, Vector<4, double>{0.0, 0.0, 1.0, 0.0});
V.SetCol(3, Vector<4, double>{0.0, 0.0, 0.0, 1.0});
U.SetCol(0, Vector<4, double>{0.866, 0.5, 0.0, 0.0});
U.SetCol(1, Vector<4, double>{-0.5, 0.866, 0.0, 0.0});
U.SetCol(2, Vector<4, double>{0.0, 0.0, 1.0, 0.0});
U.SetCol(3, Vector<4, double>{0.0, 0.0, 0.0, 1.0});
convert(U, true, V, false);
// Matrix<4, 4, double> matrix;
// matrix = convert.GetC();
// for(int i = 0; i <4 ; i++)
// {
// Vector<4,double > row = matrix.GetRow(i);
// for(size_t j = 0; j < 4; j++)
// {
// std::cout<< row[i]<<" ";
// }
// std::cout<<std::endl;
// }
isRHU = convert.IsRightHandedU(); // false
isRHV = convert.IsRightHandedV(); // true
// std::cout<<isRHU<<std::endl;
// std::cout<<isRHV<<std::endl;
X = { 0.0, 2.0, 0, 1.0 };
Y = convert.UToV(X); //
for(int i = 0; i < 4; i++)
{
std::cout<<"Y "<< i<<": " <<Y[i]<<std::endl;
}
// std::cout<<"Y "<<Y<<std::endl;
P0 = U*X;
P1 = V*Y;
diff = P0 - P1; // { 0, 0, 0, 0 }
return 0;
}编译：
g++ gte_test.cpp -I/usr/local/include/GTEngine -std=c++11 -L/home/itfanr/GeometricTools/GTEngine/lib/Release -lgtengine
输出：
itfanr@itfanr-pc:test$ ./a.out Y 0: -1 Y 1: 1.732 Y 2: 0 Y 3: 1
对比《机器人学导论》中的例子：
转载自：
https://blog.csdn.net/itfanr/article/details/83106266
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