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  1. #include <iostream>
  2. #include <cmath>
  3. #include <vector>
  4. #include <stdlib.h>
  5. #include <chrono>
  6.  
  7.  
  8. class Transform {
  9. public:
  10. 	Transform() : 
  11. 	transform	({{1, 0, 0, 0},
  12. 				 {0, 1, 0, 0},
  13. 				 {0, 0, 1, 0},
  14. 				 {0, 0, 0, 1}})
  15. 	{}
  16.  
  17. 	void setTransform(double x, double y, double z, double roll, double pitch, double yaw) {
  18. 		double r11, r12, r13;
  19. 		double r21, r22, r23;
  20. 		double r31, r32, r33; 
  21.  
  22. 		r11	=	cos(pitch)*cos(yaw)-cos(roll)*sin(yaw)*sin(pitch);
  23. 		r12	=	cos(pitch)*sin(yaw)+cos(roll)*cos(yaw)*sin(pitch);
  24. 		r13	=	sin(pitch)*sin(roll);
  25. 		r21	=	-sin(pitch)*cos(yaw)-cos(roll)*sin(yaw)*cos(pitch);
  26. 		r22	=	-sin(pitch)*sin(yaw)+cos(roll)*cos(yaw)*cos(pitch);
  27. 		r23	=	cos(pitch)*sin(roll);
  28. 		r31	=	sin(roll)*sin(yaw);
  29. 		r32	=	-sin(roll)*cos(yaw);
  30. 		r33	=	cos(roll);
  31.  
  32. 		transform[0][0] = r11;
  33. 		transform[0][1] = r12;
  34. 		transform[0][2] = r13;
  35. 		transform[1][0] = r21;
  36. 		transform[1][1] = r22;
  37. 		transform[1][2] = r23;
  38. 		transform[2][0] = r31;
  39. 		transform[2][1] = r32;
  40. 		transform[2][2] = r33;
  41.  
  42. 		transform[0][3] = x;
  43. 		transform[1][3] = y;
  44. 		transform[2][3] = z;
  45. 	}
  46.  
  47. 	Transform& operator=(const Transform &rhs) {
  48. 		for (int x = 0; x < 4; x++) { // row number of output
  49. 		    for (int y = 0; y < 4; y++) { // column number of output
  50. 		    	this->transform[x][y] = rhs.transform[x][y];
  51. 		    }
  52. 		}
  53. 		return *this;
  54. 	}
  55.  
  56.  
  57. 	Transform operator*(const Transform &rhs) {
  58.  
  59. 		Transform out;
  60.  
  61. 		for (int x = 0; x < 4; x++) { // row number of output
  62. 		    for (int y = 0; y < 4; y++) { // column number of output
  63. 		        out.transform[x][y] = 0;
  64. 		        for (int z = 0; z < 4; z++) { // four elements are added for this output
  65. 		             out.transform[x][y] += this->transform[x][z] * rhs.transform[z][y];
  66. 		        }
  67. 		    }
  68. 		}
  69. 		return out;
  70.  
  71. 	}
  72.  
  73. private:
  74. 	std::vector<std::vector<double>> transform;
  75. };
  76.  
  77.  
  78. inline double genRand(double low, double high) {
  79. 	return rand()%(int)high+low+high-(int)high;
  80. }
  81.  
  82.  
  83. int main() {
  84.  
  85. 	// generate 4 random transforms
  86. 	std::cout << "Creating the transforms" << std::endl;
  87. 	std::vector<Transform> transforms;
  88. 	transforms.resize(4);
  89.  
  90.  
  91. 	unsigned int seed = std::chrono::system_clock::now().time_since_epoch() / std::chrono::seconds(1);
  92. 	std::cout << "seeding rand: " << seed << std::endl;
  93.  
  94. 	srand(seed);
  95.  
  96.  
  97. 	std::cout << "Setting Transform" << std::endl;
  98. 	for (int i = 0; i < 4; ++i) {
  99. 		transforms[i].setTransform(genRand(0, 10), genRand(0, 10), genRand(0, 10), genRand(0, 4.14), genRand(0, 3.14), genRand(0, 3.14));
  100. 	}
  101.  
  102. 	std::cout << "Starting Clock" << std::endl;
  103. 	const auto start = std::chrono::system_clock::now();
  104.  
  105.  
  106. 	for (unsigned long i = 0; i < 1000000; ++i) {
  107.  
  108. 		//combine the transforms
  109. 		Transform c;
  110. 		c = transforms[0] * transforms[1] * transforms[2] * transforms[3];
  111. 	}
  112.  
  113. 	auto end = std::chrono::system_clock::now();
  114. 	auto elapsed = end - start;
  115. 	std::cout << "elapsed Time: " << elapsed / std::chrono::milliseconds(1) << "ms\n";
  116.  
  117. }
  118.  
  119.  
Success #stdin #stdout 1.41s 5300KB
comments (?)
stdin 
Standard input is empty
stdout 
Creating the transforms
seeding rand: 1715067140
Setting Transform
Starting Clock
elapsed Time: 1415ms
https://ideone.com/PuusRu
language:
C++14 (gcc 8.3)
created:
13 days ago
visibility:
public

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