Eigen库中（旋转矩阵，变换矩阵，轴向量，欧拉⾓，四元
数）表⽰及转换
#include <iostream>
#include <cmath>
#include <Eigen/Core>
#include <Eigen/Geometry>
using namespace std;
家校圈int main ( int argc, char** argv )
{
cout << "hello-----" << endl;
cout.precision(3);
/
/旋转矩阵
Eigen::Matrix3d rotation_matrix = Eigen::Matrix3d::Identity();
cout << "rotation_matrix = \n" << rotation_matrix << endl;
//旋转向量（轴向量）
Eigen::AngleAxisd rotation_vector(M_PI/4, Eigen::Vector3d(0,0,1));
//轴向量 --> 旋转矩阵
cout << "rotation_matrix = \n" << rotation_vector.matrix() << endl;
rotation_matrix = RotationMatrix();
cout << "rotation_matrix = \n" << rotation_matrix << endl;
///
Eigen::Vector3d v(1,0,0);
/
/⽤angleAxis进⾏坐标变换
玩棉袄吧Eigen::Vector3d v_rotated = rotation_vector * v;
cout << "(1,0,0) after rotation = \n" << anspo() << endl;
//⽤旋转矩阵进⾏坐标变换
v_rotated = rotation_matrix * v;
cout << "(1,0,0) after rotation = \n" << v_rotated << endl;
//旋转矩阵 --> 欧拉⾓
爱国的古诗词
Eigen::Vector3d euler_angles = rotation_matrix.eulerAngles(2,1,0);
cout << "yaw pitch roll = \n" << anspo();
//变换矩阵 (轴向量 --> 变换矩阵)
Eigen::Isometry3d T = Eigen::Isometry3d::Identity();
T.pretranslate(Eigen::Vector3d(1,3,4));
cout << "Transform matrix = \n" << T.matrix() << endl;
//cout << T.rotation() << "\n" << T.translation() << endl;
//⽤变换矩阵进⾏坐标变换
Eigen::Vector3d v_transformed = T * v;任真自得
cout << "v_transformed = \n" << v_transformed << endl;
//四元数 (轴向量 --> 四元数)
Eigen::Quaterniond q = Eigen::Quaterniond(rotation_vector);
cout << "quaternion = \n" << q.coeffs() << endl;
q = Eigen::Quaterniond(rotation_matrix);
cout << "quaternion = \n" << q.coeffs() << endl;
//使⽤四元数旋转⼀个向量
v_rotated = q * v;
cout << v_rotated << endl;
///------------------------------------------------------------------
//欧拉⾓ --> 旋转矩阵
红酒醒酒cout << "eulerAngles = \n" << euler_angles << endl;
cout<< euler_angles[0]<< "," << euler_angles[1] << "," << euler_angles[2] << endl;小明成人看看
/*
Eigen::Matrix3d test =
Eigen::AngleAxisd(euler_angles[0], Eigen::Vector3d::UnitZ()) *\
Eigen::AngleAxisd(euler_angles[1], Eigen::Vector3d::UnitY()) *\
Eigen::AngleAxisd(euler_angles[2], Eigen::Vector3d::UnitX());
*/
//欧拉⾓->旋转矩阵
Eigen::AngleAxisd angleAxis2 = Eigen::AngleAxisd(euler_angles[0], Eigen::Vector3d::UnitZ()); Eigen::AngleAxisd angleAxis1 = Eigen::AngleAxisd(euler_angles[1], Eigen::Vector3d::UnitY()); Eigen::AngleAxisd angleAxis0 = Eigen::AngleAxisd(euler_angles[2], Eigen::Vector3d::UnitX());祝姐姐生日快乐
Eigen::Matrix3d test = angleAxis2.matrix() * angleAxis1.matrix() * angleAxis0.matrix();
cout << "test = \n" << test << endl;客人英文
cout << "test -> eulerAngle = \n" << test.eulerAngles(2,1,0) << endl;
//cout << Eigen::Vector3d::UnitZ() << endl;
return 0;
}
