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TransformTest.cpp
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TransformTest.cpp
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#include <iostream>
#include <iomanip>
#include "Transform.h"
#include "Point.h"
#include "PointCloud.h"
using namespace std;
void TransformTest()
{
cout << "---------- TRANSFORM TEST ----------" << endl;
Transform T;
T.setAngles(0, 0, -90.0);
T.setTrans(100, 500, 50);
Point p, pp, a, list_point;
PointCloud pc, tst;
p.setPoint(150, 150, -50);
a.setPoint(2, 5, 1);
double* ang, * tr;
ang = T.getAngles();
tr = T.getTrans();
cout << "Angles:" << endl;;
cout << "---------------------------" << endl;
for (int i = 0; i < 3; i++) {
cout << "angle " << i + 1 << ":"
<< *(ang + i) << endl;
}
cout << "---------------------------" << endl;
cout << "Trans:" << endl;
cout << "---------------------------" << endl;
for (int i = 0; i < 3; i++)
{
cout << "value " << i + 1 << ":"
<< *(tr + i) << endl;
}
cout << "---------------------------" << endl;
T.setRotation(T.getAngles());
cout << "Rotation Matrix" << endl;
cout << "---------------------------" << endl;
//T.display_rotation();
cout << "---------------------------" << endl;
cout << "Translation Matrix" << endl;
cout << "---------------------------" << endl;
T.setTranslation(T.getTrans());
//T.display_translation();
cout << "---------------------------" << endl;
pp = T.doTransform(p);
cout << "p After Transformation:" << endl
<< "---------------------------" << endl
<< endl << "X:" << pp.getX() << endl << "Y:" << pp.getY() << endl << "Z:" << pp.getZ() << endl;
cout << "---------------------------" << endl;
list<Point>test, lp;
list<Point>::iterator it;
pc.setPointCloud(p);
pc.setPointCloud(a);
tst = T.doTransform(pc);
lp = tst.getPointCloud();
int k = 1;
cout << " Point Cloud After Transformation:" << endl;
cout << "---------------------------" << endl;
for (it = lp.begin(); it != lp.end(); ++it) {
list_point = *it;
cout << "Point " << k << endl;
cout << "X:" << list_point.getX() << endl << "Y:"
<< list_point.getY() << endl << "Z:" << list_point.getZ() << endl << endl;
k++;
}
}