四元素、欧拉角及旋转矩阵之间的转换

版权声明：本文为博主原创文章，未经博主允许不得转载。 https://blog.csdn.net/zhuoyueljl/article/details/70789472

1、源码

  
  
#include <iostream>
#include <Eigen/Eigen>
#include <stdlib.h>
#include <Eigen/Geometry>
#include <Eigen/Core>
#include <vector>
#include <math.h>

using namespace std;
using namespace Eigen;

Eigen::Quaterniond euler2Quaternion(const double roll, const double pitch, const double yaw)
{
Eigen::AngleAxisd rollAngle(roll, Eigen::Vector3d::UnitZ());
Eigen::AngleAxisd yawAngle(yaw, Eigen::Vector3d::UnitY());
Eigen::AngleAxisd pitchAngle(pitch, Eigen::Vector3d::UnitX());

Eigen::Quaterniond q = rollAngle * yawAngle * pitchAngle;
cout << "Euler2Quaternion result is:" <<endl;
cout << "x = " << q.x() <<endl;
cout << " y = " << q.y() <<endl;
cout << " z = " << q.z() <<endl;
cout << " w = " << q.w() <<endl<<endl;
return q;
}

Eigen::Vector3d Quaterniond2Euler(const double x,const double y,const double z,const double w)
{
Eigen::Quaterniond q;
q.x() = x;
q.y() = y;
q.z() = z;
q.w() = w;

Eigen::Vector3d euler = q.toRotationMatrix().eulerAngles(2, 1, 0);
cout << " Quaterniond2Euler result is:" << endl;
cout << "x = "<< euler[2] << endl ;
cout << " y = "<< euler[1] << endl ;
cout << " z = "<< euler[0] << endl << endl;
}

Eigen::Matrix3d Quaternion2RotationMatrix(const double x,const double y,const double z,const double w)
{
Eigen::Quaterniond q;
q.x() = x;
q.y() = y;
q.z() = z;
q.w() = w;

Eigen::Matrix3d R = q.normalized().toRotationMatrix();
cout << " Quaternion2RotationMatrix result is:" << endl;
cout << "R = " << endl << R << endl<< endl;
return R;
}


Eigen::Quaterniond rotationMatrix2Quaterniond(Eigen::Matrix3d R)
{
Eigen::Quaterniond q = Eigen::Quaterniond(R);
q.normalize();
cout << " RotationMatrix2Quaterniond result is:" << endl;
cout << "x = " << q.x() <<endl;
cout << " y = " << q.y() <<endl;
cout << " z = " << q.z() <<endl;
cout << " w = " << q.w() <<endl<<endl;
return q;
}

Eigen::Matrix3d euler2RotationMatrix(const double roll, const double pitch, const double yaw)
{
Eigen::AngleAxisd rollAngle(roll, Eigen::Vector3d::UnitZ());
Eigen::AngleAxisd yawAngle(yaw, Eigen::Vector3d::UnitY());
Eigen::AngleAxisd pitchAngle(pitch, Eigen::Vector3d::UnitX());

Eigen::Quaterniond q = rollAngle * yawAngle * pitchAngle;
Eigen::Matrix3d R = q.matrix();
cout << " Euler2RotationMatrix result is:" << endl;
cout << "R = " << endl << R << endl<<endl;
return R;
}

Eigen::Vector3d RotationMatrix2euler(Eigen::Matrix3d R)
{
Eigen::Matrix3d m;
m = R;
Eigen::Vector3d euler = m.eulerAngles(0, 1, 2);
cout << " RotationMatrix2euler result is:" << endl;
cout << "x = "<< euler[2] << endl ;
cout << " y = "<< euler[1] << endl ;
cout << " z = "<< euler[0] << endl << endl;
return euler;
}


int main(int argc, char **argv)
{

//this is euler2Quaternion transform function,please input your euler angle//
euler2Quaternion(0,0,0);

//this is Quaternion2Euler transform function,please input your euler angle//
Quaterniond2Euler(0,0,0,1);

//this is Quaternion2RotationMatrix transform function,please input your Quaternion parameter//
Quaternion2RotationMatrix(0,0,0,1);

//this is rotationMatrix2Euler transform function,please input your RotationMatrix parameter like following//
Eigen::Vector3d x_axiz,y_axiz,z_axiz;
x_axiz << 1,0,0;
y_axiz << 0,1,0;
z_axiz << 0,0,1;
Eigen::Matrix3d R;
R << x_axiz,y_axiz,z_axiz;
rotationMatrix2Quaterniond(R);

//this is euler2RotationMatrix transform function,please input your euler angle for the function parameter//
euler2RotationMatrix(0,0,0);

//this is RotationMatrix2euler transform function,please input your euler angle for the function parameter//
RotationMatrix2euler(R);

cout << " All transform is done!" << endl;
}

  
  

2、测试结果

转载自：https://blog.csdn.net/zhuoyueljl/article/details/70789472

版权声明：本文为博主原创文章，未经博主允许不得转载。 https://blog.csdn.net/zhuoyueljl/article/details/70789472