dqrobotics / cpp-examples

DQ Robotics cpp examples

DQ Robotics C++ Examples

OS	Support
Ubuntu LTS	Yes
Linux (Other flavors)	None
Windows	Partial
MacOS	Partial

Running examples

To try out the examples from this repository, do the following:

0. Be sure you have the pre-requisites to compile CMake-based C++ projects.

sudo apt install git cmake g++

1. Install DQRobotics C++11. Refer to the website.

2. Clone the examples repository

git clone https://github.com/dqrobotics/cpp-examples.git 

3. Compile the example that you want to run. You can use your favorite IDE or compile directly from Terminal. For instance, if you want to run the performance_evaluation example, you can do the following:

Example Compiling on QT creator

Example Compiling from Terminal

1. Browse to the example folder and compile. For example,

cd cmake/performance_evaluation
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make

2. Run the example. For example,

./performance_evaluation

3. If you get something similar to what is shown below, your example ran properly

Time to calculate a 7 DOF random vector 1000000 times was 0.0336847 s. Or per time [s]: 3.36847e-08
Time to calculate a 7 DOF Jacobian 1000000 times was 27.3508 s. Or per time [s]: 2.73508e-05
Time to calculate a 7 DOF fkm 1000000 times was 11.6242 s. Or per time [s]: 1.16242e-05
Time to calculate a 7 DOF translation Jacobian (including requirements) 1000000 times was 39.487 s. Or per time [s]: 3.9487e-05
Time to calculate a 7 DOF rotation Jacobian (including requirements) 1000000 times was 27.4134 s. Or per time [s]: 2.74134e-05
Time to create a dual quaternion from a random VectorXd 1000000 times was 0.0671938 s. Or per time [s]: 6.71938e-08
Time to calculate the dual quaternion product 1000000 times was 1.17405 s. Or per time [s]: 1.17405e-06
Time to calculate the dual quaternion sum 1000000 times was 0.166378 s. Or per time [s]: 1.66378e-07