使用特征库从旋转矩阵滚动俯仰和偏航

Question

我需要从旋转矩阵中提取滚动俯仰偏航角度,我想确保我所做的是正确的.

    Eigen::Matrix< simFloat, 3, 1> rpy = orientation.toRotationMatrix().eulerAngles(0,1,2);
    const double r = ((double)rpy(0));
    const double p = ((double)rpy(1));
    const double y = ((double)rpy(2));

那是对的吗？因为我在这里阅读:http: //eigen.tuxfamily.org/dox/group__Geometry__Module.html#gad118fececd448d7485ffea4858775e5a

当我在描述的最后说明在哪个区间定义角度时,我有点困惑.

Answer 1

我想这就是你要找的东西.取决于我们如何使用m.eulerAngles(0,1,2); 在这里它是rotx,roty,rotz,用rotx roty rotz 重建

Matrix3f m;

m = AngleAxisf(0.25*M_PI, Vector3f::UnitX())
  * AngleAxisf(0.5*M_PI, Vector3f::UnitY())
  * AngleAxisf(0.33*M_PI, Vector3f::UnitZ());

cout << "original rotation:" << endl;
cout << m << endl << endl;

Vector3f ea = m.eulerAngles(0, 1, 2); 
cout << "to Euler angles:" << endl;
cout << ea << endl << endl;

Matrix3f n;
n = AngleAxisf(ea[0], Vector3f::UnitX())
  * AngleAxisf(ea[1], Vector3f::UnitY())
  * AngleAxisf(ea[2], Vector3f::UnitZ()); 

cout << "recalc original rotation:" << endl;
cout << n << endl;

谢谢你的参考!我也首先使用Eigen.它只是节省了大量的工作!

Answer 2

Shawn Le的答案是正确的，但我认为这条线应该是

Vector3f ea = m.eulerAngles(2, 1, 0);

然后ea将按该顺序保持偏航俯仰和侧倾值。ZYX欧拉角旋转等效于XYZ固定轴旋转，无非就是侧倾和偏航。