四元数、欧拉角、旋转矩阵之间互相转换C++源码

转自四元数、欧拉角、旋转矩阵之间互相转换C++源码
还可参考
Creating a rotation matrix with pitch, yaw, roll using Eigen
Finding roll, pitch yaw from 3X3 rotation matrix with Eigen

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