void initRC()
{
rf0();
rf1();
rf2();
rc_hold[0] = micros();
rc_hold[1] = micros();
rc_hold[2] = micros();
}
IMPALGEBRA_BEGIN_NAMESPACE
Transformation3Ds get_alignments_from_first_to_second(
const PrincipalComponentAnalysis& pca1,
const PrincipalComponentAnalysis& pca2) {
Transformation3Ds all_trans;
algebra::Rotation3D rot2 = algebra::get_rotation_from_x_y_axes(
pca2.get_principal_component(0),
pca2.get_principal_component(1));
algebra::ReferenceFrame3D rf2(algebra::Transformation3D(
rot2,pca2.get_centroid()));
int sign[2];
sign[0]=1;
sign[1]=-1;
for(int i1=0;i1<3;i1++) {
for(int i2=0;i2<3;i2++) {
if (i1==i2) continue;
for(int j1=0;j1<2;j1++){
for(int j2=0;j2<2;j2++){
algebra::Rotation3D rot1 = algebra::get_rotation_from_x_y_axes(
pca1.get_principal_component(i1)*sign[j1],
pca1.get_principal_component(i2)*sign[j2]);
algebra::ReferenceFrame3D rf1(algebra::Transformation3D(
rot1,pca1.get_centroid()));
//get the transformation from pca1 to pca2
algebra::Transformation3D pca12pca2 =
get_transformation_from_first_to_second(rf1,rf2);
IMP_IF_LOG(VERBOSE) {
IMP_LOG_VERBOSE("Transforming reference frame: " << rf1);
IMP_LOG_VERBOSE("To reference frame: " << rf2);
IMP_LOG_VERBOSE("Resulted in transformation: " << pca12pca2);
}
all_trans.push_back(pca12pca2);
}}//j1,j2
}//i2
}//i1
return all_trans;
}
