1. 代码如下所示,需要包含Eigen的库,安装的话有很多教程,直接照着来就可以
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <iostream>
using namespace std;
int main()
{
Eigen::Quaterniond rotation = Eigen::Quaterniond::Identity();
Eigen::Vector3d translation = Eigen::Vector3d::Zero();
auto res = rotation.inverse() * -translation;
cout << res << endl;
return 0;
}
2. 有了代码之后,直接点击vscode的run 或者debug的话 一般会报错
3. 这个时候 只需要修改task的 -I 参数,填写为对应的Eigen的安装路径即可,如下所示
{
"tasks": [
{
"type": "cppbuild",
"label": "C/C++: gcc build active file",
// "command": "/usr/bin/gcc",
"command": "g++",
"args": [
"-I/usr/include/eigen3",
"-fdiagnostics-color=always",
"-g",
"${file}",
"-lstdc++",
"-o",
"${fileDirname}/${fileBasenameNoExtension}",
"-l",
"pthread"
],
"options": {
"cwd": "${fileDirname}"
},
"problemMatcher": [
"$gcc"
],
"group": {
"kind": "build",
"isDefault": true
},
"detail": "Task generated by Debugger."
}
],
"version": "2.0.0"
}
4. 处理之后,可以编译通过,并且得到对应的输出,还可以进行debug
5. debug 效果如下所示: