qiao qh-huang

qh-huang / Create an Eigen Quaternion from Roll, Pitch Yaw (in rad)

Last active June 23, 2016 09:59

Playing with Robotic Programming

	Eigen::Quaternion<float> q;
	Eigen::AngleAxis<float> aaZ(pcl::deg2rad(rz), Eigen::Vector3f::UnitZ());
	Eigen::AngleAxis<float> aaY(pcl::deg2rad(ry), Eigen::Vector3f::UnitY());
	Eigen::AngleAxis<float> aaX(pcl::deg2rad(rx), Eigen::Vector3f::UnitX());
	q = aaZ * aaY * aaX;

qh-huang / git usage

Created June 15, 2016 04:55

	Q: How to get rid of git submodules untracked status?
	A: move into the submodule's directory, then
	git reset --hard

qh-huang / c_cpp_useful_code_pieces.h

Last active October 8, 2018 06:58

Commonly Used Code Pieces

	// thread sleep in C++11
	void ThreadSleep(int duration_ms) {
	std::cout << "Thread Sleeping..." << std::endl;
	auto start = std::chrono::high_resolution_clock::now();
	std::this_thread::sleep_for(std::chrono::milliseconds(duration_ms));
	auto end = std::chrono::high_resolution_clock::now();
	std::chrono::duration<double, std::milli> elapsed = end - start;
	cout << << "Thread Awake. Sleeping for " << elapsed.count() << " ms." << std::cout;
	}