camke(10) 多工程集合

 

 

 

 

 

 

 

 

 

 

 

工程代码

CMakeLists.txt

 

 

cmake_minimum_required(VERSION 2.8)
project(chapter3)

set(CMAKE_CXX_FLAGS "-std=c++11")

# 加入各子工程

add_subdirectory(examples)

　　

子工程

x下面有两个exe

 

 

CMakeLists.txt

 

include_directories("/usr/include/eigen3")
add_executable(coordinateTransform coordinateTransform.cpp)

find_package(Pangolin REQUIRED)
include_directories(${Pangolin_INCLUDE_DIRS})
add_executable(plotTrajectory plotTrajectory.cpp)
target_link_libraries(plotTrajectory ${Pangolin_LIBRARIES})

 

 

工程代码

子工程1exe

四元数转换

#include <iostream>
#include <vector>
#include <algorithm>
#include <Eigen/Core>
#include <Eigen/Geometry>

using namespace std;
using namespace Eigen;

int main(int argc, char** argv) {
  Quaterniond q1(0.35, 0.2, 0.3, 0.1), q2(-0.5, 0.4, -0.1, 0.2);
  q1.normalize();
  q2.normalize();
  Vector3d t1(0.3, 0.1, 0.1), t2(-0.1, 0.5, 0.3);
  Vector3d p1(0.5, 0, 0.2);

  Isometry3d T1w(q1), T2w(q2);
  T1w.pretranslate(t1);
  T2w.pretranslate(t2);

  Vector3d p2 = T2w * T1w.inverse() * p1;
  cout << endl << p2.transpose() << endl;
  return 0;
}

　　

 

 

子工程2exe

plotTrajectory.cpp