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(alpha,Vector3d(x,y,z))
2,旋转向量转旋转矩阵...(X-Y-Z,即RPY)
Eigen::Vector3d eulerAngle=rotation_vector.matrix().eulerAngles(2,1,0);
4,旋转向量转四元数
Eigen...::Quaterniond quaternion(rotation_vector);
旋转矩阵
1, 初始化旋转矩阵
Eigen::Matrix3d rotation_matrix;
rotation_matrix...<<x_00,x_01,x_02,x_10,x_11,x_12,x_20,x_21,x_22;
2, 旋转矩阵转旋转向量
Eigen::AngleAxisd rotation_vector(rotation_matrix...UnitZ()));
Eigen::AngleAxisd rotation_vector;
rotation_vector=yawAngle*pitchAngle*rollAngle;
3, 欧拉角转旋转矩阵