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Eigen库 EulerAngles RotationMatrixQuaterniond 转换方法 欧拉角旋转矩阵四元数
#include #include
#include
#define PI (3.1415926535897932346f)int main(int argc, char **argv)
{
using ::std::cout;
using ::std::endl;
double yaw = PI/3,pitching = PI/4,droll = PI/6;
//EulerAngles to RotationMatrix
::Eigen::Vector3d ea0(yaw,pitching,droll);
::Eigen::Matrix3d R;
R = ::Eigen::AngleAxisd(ea0[0], ::Eigen::Vector3d::UnitZ())
* ::Eigen::AngleAxisd(ea0[1], ::Eigen::Vector3d::UnitY())
* ::Eigen::AngleAxisd(ea0[2], ::Eigen::Vector3d::UnitX());
cout << R << endl << endl;
//RotationMatrix to Quaterniond
::Eigen::Quaterniond q;
q = R;
cout << q.x() << endl << endl;
cout << q.y() << endl << endl;
cout << q.z() << endl << endl;
cout << q.w() << endl << endl;
//Quaterniond to RotationMatrix
::Eigen::Matrix3d Rx = q.toRotationMatrix();
cout << Rx << endl << endl;
//RotationMatrix to EulerAngles
::Eigen::Vector3d ea1 = Rx.eulerAngles(2,1,0);
cout << ea1/PI*180 << endl << endl;
std::cin.ignore();
return 0;
}
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