tf的四元素和欧拉角之间转换

pose current_pose;  //得到的Pose
 
tf::StampedTransform tf_ 
tf_.setOrigin( tf::Vector3(current_pose.x, current_pose.y, current_pose.z) );    //设置平移

  //欧拉角 -->>四元数
tf::Quaternion q;
q.setRPY(current_pose.roll, current_pose.pitch, current_pose.yaw); 
 
tf_.setRotation(q);    //TF 的transform 必须从四元数获取旋转信息
 
 //四元数 -->> 欧拉角
tf::Quaternion quat;
tf::quaternionMsgToTF(odom.pose.pose.orientation, quat);
double roll, pitch, yaw;   //定义存储r\p\y的容器
tf::Matrix3x3(quat).getRPY(roll, pitch, yaw);//进行转换