相关疑难解决方法(0)

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.