Eigen库中（ 旋转矩阵，变换矩阵，轴向量，欧拉角，四元数） 表示及转换

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

using namespace std;

int main ( int argc, char** argv )
{
    cout << "hello-----" << endl;
    cout.precision(3);
    //旋转矩阵
    Eigen::Matrix3d rotation_matrix = Eigen::Matrix3d::Identity();
    cout << "rotation_matrix = \n" << rotation_matrix << endl;
    //旋转向量（轴向量）
    Eigen::AngleAxisd rotation_vector(M_PI/4, Eigen::Vector3d(0,0,1));

    //轴向量 --> 旋转矩阵
    cout << "rotation_matrix = \n" << rotation_vector.matrix() << endl;
    rotation_matrix = rotation_vector.toRotationMatrix();
    cout << "rotation_matrix = \n" << rotation_matrix << endl;

    ///
    Eigen::Vector3d v(1,0,0)