Eigen::AngleAxisd rollAngle(AngleAxisd(eulerAngle(0),Vector3d::UnitX())); Eigen::AngleAxisd pitchAngle(AngleAxisd(eulerAngle(1),Vector3d::UnitY())); Eigen::AngleAxisd yawAngle(AngleAxisd(eulerAngle(2),Vector3d::UnitZ())); Eigen::Matrix3d rotation_matrix; rotation_matrix=yawAngle*pitchAng...
1.1.2四元数转换成旋转矩阵:Eigen::Matrix3d rotation_matrix=quaternion.matrix(); 1.1.3四元数转换成欧拉角: Eigen::Vector3d eulerAngle=quaternion.matrix().eulerAngles(0,1,2); 四元数转换成欧拉角其实还是以旋转矩阵为中介,先转换成矩阵后转成欧拉角。 1.2欧拉角 1.2.1欧拉角初始化:Eigen::Vector3d euler...
Eigen::AngleAxisd rotation_vector;rotation_vector.fromRotationMatrix(rotation_matrix);, 3, 旋转向量转欧拉角(Z-Y-X,即RPY) Eigen::Vector3d eulerAngle=rotation_matrix.eulerAngles(2,1,0); 4,旋转向量转四元数, Eigen::Quaterniond quater...
toRotationMatrix() * rotation_vectorX.toRotationMatrix() ; cout <<" Euler_angleZYX = \n "<< Euler_angleZYX << endl; Vector3d euler_angle = Euler_angleZYX.eulerAngles(2,1,0) ; cout <<"euler_angle.transpose() = " << euler_angle.transpose() << endl; //yaw pitch roll Z Y X ...
rotation_matrix=rotation_vector.toRotationMatrix(); 1.3 旋转向量转欧拉角(xyz,即RPY) Eigen::Vector3d eulerAngle=rotation_vector.matrix().eulerAngles(0,1,2); 1.4 旋转向量转四元数 Eigen::Quaterniondquaternion(rotation_vector); Eigen::Quaterniond quaternion; ...
Eigen::Matrix3d rotation_matrix; rotation_matrix=quaternion.matrix(); Eigen::Matrix3d rotation_matrix; rotation_matrix=quaternion.toRotationMatrix(); 4.4 四元数转欧拉角(xyz,即RPY) Eigen::Vector3d eulerAngle=quaternion.matrix().eulerAngles(0,1,2); 五、齐次欧式变换 Isometry3d T=Isometry3d::Identi...
Eigen::Matrix3d rotation_matrix; rotation_matrix = yawAngle*pitchAngle*rollAngle; cout << rotation_matrix; 报错如下 error C2338: YOU_MIXED_VECTORS_OF_DIFFERENT_SIZES
Eigen::Vector3d eulerAngle=rotation_matrix.eulerAngles(2,1,0); 4,旋转向量转四元数, 代码语言:javascript 代码运行次数:0 运行 AI代码解释 Eigen::Quaterniondquaternion(rotation_matrix);Eigen::Quaterniond quaternion;quaternion=rotation_matrix; 欧拉角 ...
1.1.3 toRotationMatrix,四元数转为旋转矩阵 设四元数为q = q_w +q_xi + q_yj+q_zk,对应的旋转矩阵为R,待旋转的矢量为p。由于q\otimes{p}\otimes{q^*} = Rp,所以可以得到\begin{align} Rp &= (q_w+q_xi+q_yj+q_zw)\otimes(0+p_xi+p_yj+p_zk)\otimes(q_w-q_xi-q_yj-q_zk...
rotation_matrix=rotation_vector.toRotationMatrix(); 1. 2. 1.3 旋转向量转欧拉角(xyz,即RPY) Eigen::Vector3deulerAngle=rotation_vector.matrix().eulerAngles(0,1,2); 1. 1.4 旋转向量转四元数 Eigen::Quaterniondquaternion(rotation_vector);