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...
toRotationMatrix(); // 用 AngleAxis 可以进行坐标变换 Vector3d v(1, 0, 0); Vector3d v_rotated = rotation_vector * v; cout << "(1,0,0) after rotation (by angle axis) = " << v_rotated.transpose() << endl; // 或者用旋转矩阵 v_rotated = rotation_matrix * v; cout << "(...
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...
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::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 ...
Eigen::AngleAxisd(euler_angle[1], Eigen::Vector3d::UnitY()) * Eigen::AngleAxisd(euler_angle[0], Eigen::Vector3d::UnitX()); cout <<"nrotation matrix1 =n"<< rotation_matrix1 << endl << endl;// 使用自定义函数将欧拉角转换为旋转矩阵rotation_matrix2 =eulerAnglesToRotationMatrix(euler_an...
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; ...
void TEST_rotation_direction_positive_negative_view_from_y_positive_to_origin() { Eigen::Matrix3d R; R = Eigen::AngleAxisd(M_PI / 4, Eigen::Vector3d::UnitY()); Eigen::Vector3d input_point(0, 0, 1); Eigen::Vector3d output_point = R * input_point; std::cout << "output_point...
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::Vector3d euler_angle = rotation_matrix.eulerAngles(2, 1, 0); 旋转矩阵\(\Longrightarrow\)四元数 code // 第一种:通过构造函数(传入一个旋转矩阵) Eigen::Quaterniond quaternion(rotation_matrix); // 第二种:首先初始化,然后通过旋转矩阵直接赋值(重载了赋值运算符) ...