规定Z轴的正方向是(0,0,1)
从a->b做法向量;
a和b的法向量与Z轴正向的积,积大于0,同向,夹角为正;
积小于0,反向,夹角为负,这里要求0-360,所以夹角为2*pi-theta;
double Cross( Eigen::Vector3d a, Eigen::Vector3d b){
double theta = atan2(a.cross(b).norm(), a.transpose() * b);
//规定正方向(0,0,1)
Eigen::Vector3d direction(0,0,1);
double z = a.cross(b).transpose() * direction;
return z >= 0 ? theta : 2*PI- theta;
}