空间三维向量的叉乘:
向量的点乘:
因此结合(0)和(1)可以的得到:
θ = atan2(sin(θ),cos(θ)) = atan2((A
#include <iostream> #include <Eigen/Dense> typedef Eigen::Vector3d Point; double getDegAngle(Point p1, Point p2, Point p3) { Eigen::Vector3d v1 = p2 - p1; Eigen::Vector3d v2 = p3 - p1; //one method, radian_angle belong to 0~pi //double radian_angle = atan2(v1.cross(v2).transpose() * (v1.cross(v2) / v1.cross(v2).norm()), v1.transpose() * v2); //another method, radian_angle belong to 0~pi double radian_angle = atan2(v1.cross(v2).norm(), v1.transpose() * v2); if (v1.cross(v2).z() < 0) { radian_angle = 2 * M_PI - radian_angle; } return radian_angle * 180 / M_PI; } int main() { //Point p1(0, 0, 0), p2(1, 0, 0), p3(0, -1, 0); //Point p1(0, 0, 0), p2(1, 0, 0), p3(0, 1, 0); //Point p1(0, 0, 0), p2(1, 0, 0), p3(0.5, 0.5, 0); Point p1(0, 0, 0), p2(1, 0, 0), p3(0.5, -0.5, 0); std::cout << "The Degree Angle is: " << getDegAngle(p1, p2, p3) << "\n"; return 0; }