下面是使用Python实现旋转矩阵到四元数转换的示例代码: ``` import numpy as np def matrix_to_quaternion(R): trace = np.trace(R) if trace > 0: s = np.sqrt(trace + 1) / 2 x = (R[2, 1] - R[1, 2]) / (4 * s) y = (R[0, 2] - R[2, 0]) / (4 * s) z = (R[...
旋转向量 1，初始化旋转向量：旋转角为alpha，旋转轴为(x,y,z) Eigen::AngleAxisd rotation_vector(...