Eigen 四元数、欧拉角、旋转矩阵、旋转向量相互转换

    Eigen::AngleAxisd rotation_vector(alpha,Vector3d(x,y,z))
    

 Eigen::Matrix3d rotation_matrix;

    
 rotation_matrix=rotation_vector.matrix();
    
 Eigen::Matrix3d rotation_matrix;
    
 rotation_matrix=rotation_vector.toRotationMatrix();
    
    
    
    

 inline Eigen::Matrix3d rotationVectorToRotationMatrix(const Eigen::Vector3d& rotation_vector)

    
 {
    
     Eigen::Matrix3d rotation_matrix;
    
     rotation_matrix << 1, -rotation_vector(2), rotation_vector(1), 
    
                    rotation_vector(2), 1, -rotation_vector(0),
    
                    -rotation_vector(1), rotation_vector(0), 1;
    
     return rotation_matrix;
    
 }
    
  
    
 Eigen::Vector3d delta_theta = Eigen::Vector3d::Zero();
    
 Eigen::Matrix3d rotation_delta_base_imu = Eigen::Matrix3d::Identity();
    
 rotation_delta_base_imu = rotationVectorToRotationMatrix(delta_theta);
    
  
    
 Eigen::AngleAxisd angle_axisd_delta_theta(delta_theta.norm(), delta_theta.normalized());
    
 rotation_delta_base_imu = angle_axisd_delta_theta.matrix();
    
    
    
    

    Eigen::Vector3d eulerAngle=rotation_vector.matrix().eulerAngles(2,1,0);
    

 Eigen::Quaterniond quaternion(rotation_vector);

    
 Eigen::Quaterniond quaternion;
    
 Quaterniond quaternion;
    
 Eigen::Quaterniond quaternion;
    
 quaternion=rotation_vector;
    
  
    
  
    
 Eigen::AngleAxisd angle_axisd(v.norm(),v / v.norm());
    
 Eigen::Quaterniond quaternion(angle_axisd);
    
    
    
    

 Eigen::Matrix3d rotation_matrix;

    
 rotation_matrix<<x_00,x_01,x_02,x_10,x_11,x_12,x_20,x_21,x_22;
    
    
    
    

 Eigen::AngleAxisd rotation_vector(rotation_matrix);

    
 Eigen::AngleAxisd rotation_vector;
    
 rotation_vector=rotation_matrix;
    
 Eigen::AngleAxisd rotation_vector;
    
 rotation_vector.fromRotationMatrix(rotation_matrix);
    
    
    
    

 Eigen::Vector3d eulerAngle = rotation_matrix.eulerAngles(2,1,0);

    
 (yaw, pitch, roll)
    
    
    
    

 Eigen::Quaterniond quaternion(rotation_matrix);

    
 Eigen::Quaterniond quaternion;
    
 quaternion=rotation_matrix;
    
    
    
    

    Eigen::Vector3d eulerAngle(yaw,pitch,roll);
    

 Eigen::AngleAxisd rollAngle(AngleAxisd(eulerAngle(2),Vector3d::UnitX()));

    
 Eigen::AngleAxisd pitchAngle(AngleAxisd(eulerAngle(1),Vector3d::UnitY()));
    
 Eigen::AngleAxisd yawAngle(AngleAxisd(eulerAngle(0),Vector3d::UnitZ()));
    
  
    
 Eigen::AngleAxisd rotation_vector;
    
 rotation_vector=yawAngle*pitchAngle*rollAngle;
    
    
    
    

 Eigen::AngleAxisd rollAngle(AngleAxisd(eulerAngle(2),Vector3d::UnitX()));

    
 Eigen::AngleAxisd pitchAngle(AngleAxisd(eulerAngle(1),Vector3d::UnitY()));
    
 Eigen::AngleAxisd yawAngle(AngleAxisd(eulerAngle(0),Vector3d::UnitZ()));
    
  
    
 Eigen::Matrix3d rotation_matrix;
    
 rotation_matrix=yawAngle*pitchAngle*rollAngle;
    
    
    
    

 Eigen::AngleAxisd rollAngle(AngleAxisd(eulerAngle(2),Vector3d::UnitX()));

    
 Eigen::AngleAxisd pitchAngle(AngleAxisd(eulerAngle(1),Vector3d::UnitY()));
    
 Eigen::AngleAxisd yawAngle(AngleAxisd(eulerAngle(0),Vector3d::UnitZ()));
    
  
    
 Eigen::Quaterniond quaternion;
    
 quaternion=yawAngle*pitchAngle*rollAngle;
    
    
    
    

    Eigen::Quaterniond quaternion(w,x,y,z);
    

 Eigen::AngleAxisd rotation_vector(quaternion);

    
 Eigen::AngleAxisd rotation_vector;
    
 rotation_vector=quaternion;
    
    
    
    

 Eigen::Matrix3d rotation_matrix;

    
 rotation_matrix=quaternion.matrix();
    
 Eigen::Matrix3d rotation_matrix;
    
 rotation_matrix=quaternion.toRotationMatrix();
    
    
    
    

    Eigen::Vector3d eulerAngle=quaternion.matrix().eulerAngles(2,1,0);