24 745.327749, 407.959716, 14.851070, -2.985091, 0.009412, 0.051315);
26 CPoint3D GPSPosOnVehicle(-0.25, 0, 0.10);
28 CPoint3D iniPoseGPS = iniPoseVehicle + GPSPosOnVehicle;
31 "Pose: %.6f,%.6f,%.6f", iniPoseGPS.
x(), iniPoseGPS.
y(), iniPoseGPS.z());
49 cout <<
"L: " << L << endl;
50 cout <<
"R: " <<
R << endl;
51 cout <<
"C: " << C << endl;
52 cout <<
"R+C:" << (
R + C) << endl;
59 for (i = 0; i < N; i++) L2 = L - (
R + C);
60 cout <<
"Computation in: " << 1e6 * tictac.
Tac() / ((double)N) <<
" us"
63 cout <<
"L': " << L2 << endl;
68 cout <<
"R(+)C(+)L' = " << L3 << endl;
69 cout <<
"Should be equal to L = " << L << endl;
73 cout <<
"|(R(+)C)-L|= " << (
R + C).distanceTo(L) << endl;
74 cout <<
"|L-(R(+)C)|= " << (
R + C).distanceTo(L) << endl;
90 cerr <<
"EXCEPCTION: " << e.what() << endl;
95 cerr <<
"Untyped excepcion!!";