TEMPLATE=app
CONFIG+=console
CONFIG-=app_bundle
CONFIG-=qtPRJ_ROOT=..
LIB_DIR=$$quote(E:/ProgramFiles(x86)/rl-0.6.2/lib)
BIN=$$PRJ_ROOT/../../bin/DESTDIR=$$BIN
SRC_ROOT=$$PRJ_ROOT/src/
INCLUDEPATH+=$$quote(E:/ProgramFiles(x86)/rl-0.6.2/include)
INCLUDEPATH+=$$quote(E:/ProgramFiles(x86)/rl-0.6.2/include/boost-1_52)DEFINES+=COIN_DLL
DEFINES+=SOQT_DLL
DEFINES+=M_PI=3.14159265358979323846
#解决Eigenabort的问题
#参考：http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html
DEFINES+=EIGEN_DONT_ALIGN_STATICALLYCONFIG(debug,debug|release){
LIBS+=-L$$LIB_DIR/-lrlmdld-lrlkind-lrlsgd-lrlxmld-lcoin3d-lsoqt1d-llibxml2
}else{
LIBS+=-L$$LIB_DIR/-lrlmdl-lrlkin-lrlsg-lrlxml-lcoin3-llibxml2
}SOURCES+=$$SRC_ROOT/main.cpp

#include<iostream>
#include<rl/math/Transform.h>
#include<rl/math/Unit.h>
#include<rl/mdl/Kinematic.h>
#include<rl/mdl/Model.h>
#include<rl/mdl/XmlFactory.h>int
main(intargc,char**argv)
{
rl::mdl::XmlFactoryfactory;
rl::mdl::Kinematic*kinematics=dynamic_cast<rl::mdl::Kinematic*>(factory.create("E:\\ProgramFiles(x86)\\rl-0.6.2\\share\\rl\\examples\\rlmdl\\unimation-puma560.xml"));
rl::math::Vectorq(6);
q<<10,10,-20,30,50,-10;
q*=rl::math::DEG2RAD;
kinematics->setPosition(q);
kinematics->forwardPosition();
rl::math::Transformt=kinematics->getOperationalPosition(0);
rl::math::Vector3position=t.translation();
rl::math::Vector3orientation=t.rotation().eulerAngles(2,1,0).reverse();
std::cout<<"Jointconfigurationindegrees:"<<q.transpose()*rl::math::RAD2DEG<<std::endl;
std::cout<<"End-effectorposition:[m]"<<position.transpose()<<"orientation[deg]"<<orientation.transpose()*rl::math::RAD2DEG<<std::endl;
return0;
}