在 Visual Studio 中配置 Eigen库

#include <iostream>
#include <Eigen/Core>
#include <Eigen/Geometry>

using namespace std;

Eigen::Matrix3d eulerAnglesToRotationMatrix(Eigen::Vector3d& theta);
bool isRotationMatirx(Eigen::Matrix3d R);
Eigen::Vector3d rotationMatrixToEulerAngles(Eigen::Matrix3d& R);

const double ARC_TO_DEG = 57.29577951308238;
const double DEG_TO_ARC = 0.0174532925199433;

int main()
{
    // 设定车体欧拉角(角度)，绕固定轴
    double roll_deg = 0.5;      // 绕X轴
    double pitch_deg = 0.8;     // 绕Y轴
    double yaw_deg = 108.5;     // 绕Z轴

    // 转化为弧度
    double roll_arc = roll_deg * DEG_TO_ARC;    // 绕X轴
    double pitch_arc = pitch_deg * DEG_TO_ARC;  // 绕Y轴
    double yaw_arc = yaw_deg * DEG_TO_ARC;      // 绕Z轴

    cout << endl;
    cout << "roll_arc = " << roll_arc << endl;
    cout << "pitch_arc = " << pitch_arc << endl;
    cout << "yaw_arc = " << yaw_arc << endl;

    // 初始化欧拉角（rpy）,对应绕x轴，绕y轴，绕z轴的旋转角度
    Eigen::Vector3d euler_angle(roll_arc, pitch_arc, yaw_arc);

    // 使用Eigen库将欧拉角转换为旋转矩阵
    Eigen::Matrix3d rotation_matrix1, rotation_matrix2;
    rotation_matrix1 = Eigen::AngleAxisd(euler_angle[2], Eigen::Vector3d::UnitZ()) *
        Eigen::AngleAxisd(euler_angle[1], Eigen::Vector3d::UnitY()) *
        Eigen::AngleAxisd(euler_angle[0], Eigen::Vector3d::UnitX());
    cout << "nrotation matrix1 =n" << rotation_matrix1 << endl << endl;

    // 使用自定义函数将欧拉角转换为旋转矩阵
    rotation_matrix2 = eulerAnglesToRotationMatrix(euler_angle);
    cout << "rotation matrix2 =n" << rotation_matrix2 << endl << endl;

    // 使用Eigen将旋转矩阵转换为欧拉角
    Eigen::Vector3d eulerAngle1 = rotation_matrix1.eulerAngles(2, 1, 0); // ZYX顺序，yaw,pitch,roll
    cout << "roll_1 pitch_1 yaw_1 = " << eulerAngle1[2] << " " << eulerAngle1[1]
        << " " << eulerAngle1[0] << endl << endl;

    // 使用自定义函数将旋转矩阵转换为欧拉角
    Eigen::Vector3d eulerAngle2 = rotationMatrixToEulerAngles(rotation_matrix1); // roll,pitch,yaw
    cout << "roll_2 pitch_2 yaw_2 = " << eulerAngle2[0] << " " << eulerAngle2[1]
        << " " << eulerAngle2[2] << endl << endl;

    return 0;
}

Eigen::Matrix3d eulerAnglesToRotationMatrix(Eigen::Vector3d& theta)
{
    Eigen::Matrix3d R_x;    // 计算旋转矩阵的X分量
    R_x <<
        1, 0, 0,
        0, cos(theta[0]), -sin(theta[0]),
        0, sin(theta[0]), cos(theta[0]);

    Eigen::Matrix3d R_y;    // 计算旋转矩阵的Y分量
    R_y <<
        cos(theta[1]), 0, sin(theta[1]),
        0, 1, 0,
        -sin(theta[1]), 0, cos(theta[1]);

    Eigen::Matrix3d R_z;    // 计算旋转矩阵的Z分量
    R_z <<
        cos(theta[2]), -sin(theta[2]), 0,
        sin(theta[2]), cos(theta[2]), 0,
        0, 0, 1;
    Eigen::Matrix3d R = R_z * R_y * R_x;
    return R;
}


bool isRotationMatirx(Eigen::Matrix3d R)
{
    double err = 1e-6;
    Eigen::Matrix3d shouldIdenity;
    shouldIdenity = R * R.transpose();
    Eigen::Matrix3d I = Eigen::Matrix3d::Identity();
    return (shouldIdenity - I).norm() < err;
}

Eigen::Vector3d rotationMatrixToEulerAngles(Eigen::Matrix3d& R)
{
    assert(isRotationMatirx(R));
    double sy = sqrt(R(0, 0) * R(0, 0) + R(1, 0) * R(1, 0));
    bool singular = sy < 1e-6;
    double x, y, z;
    if (!singular)
    {
        x = atan2(R(2, 1), R(2, 2));
        y = atan2(-R(2, 0), sy);
        z = atan2(R(1, 0), R(0, 0));
    }
    else
    {
        x = atan2(-R(1, 2), R(1, 1));
        y = atan2(-R(2, 0), sy);
        z = 0;
    }
    return { x, y, z };
}