机器人SLAM 中的位姿变化关系与常用消息记录

---

Eigen

1. 旋转向量

1.1 初始化
旋转角: $alpha$ (顺时针)，旋转轴: $(x,y,z)$

Eigen::AngleAxisd rotation_vector(alpha,Vector3d(x,y,z))

Eigen::AngleAxisd yawAngle(alpha,Vector3d::UnitZ());

1.2 旋转向量 <-> 旋转矩阵

Eigen::Matrix3d rotation_matrix;
rotation_matrix=rotation_vector.matrix();

Eigen::Matrix3d rotation_matrix;
rotation_matrix=rotation_vector.toRotationMatrix();

1.3 旋转向量 -> 欧拉角

Eigen::Vector3d eulerAngle=rotation_vector.matrix().eulerAngles(0,1,2);

1.4 旋转向量转四元数

Eigen::Quaterniond quaternion(rotation_vector);

Eigen::Quaterniond quaternion;
quaternion=rotation_vector;

---

2. 旋转矩阵

2.1 初始化

Eigen::Matrix3d rotation_matrix;
rotation_matrix<<x_00,x_01,x_02,x_10,x_11,x_12,x_20,x_21,x_22;

2.2 旋转矩阵 -> 旋转向量

Eigen::AngleAxisd rotation_vector(rotation_matrix);

Eigen::AngleAxisd rotation_vector;
rotation_vector=rotation_matrix;

Eigen::AngleAxisd rotation_vector;
rotation_vector.fromRotationMatrix(rotation_matrix);

2.3 旋转矩阵 -> 欧拉角

Eigen::Vector3d eulerAngle=rotation_matrix.eulerAngles(0,1,2);

2.4 旋转矩阵 -> 四元数

Eigen::Quaterniond quaternion(rotation_matrix);

Eigen::Quaterniond quaternion;
quaternion=rotation_matrix;

---

3. 欧拉角

3.1 初始化

Eigen::Vector3d eulerAngle(roll,pitch,yaw);

3.2 欧拉角 -> 旋转向量

Eigen::AngleAxisd rollAngle(AngleAxisd(eulerAngle(0),Vector3d::UnitX()));
Eigen::AngleAxisd pitchAngle(AngleAxisd(eulerAngle(1),Vector3d::UnitY()));
Eigen::AngleAxisd yawAngle(AngleAxisd(eulerAngle(2),Vector3d::UnitZ()));

Eigen::AngleAxisd rotation_vector;
rotation_vector=yawAngle*pitchAngle*rollAngle;

3.3 欧拉角 -> 旋转矩阵

Eigen::AngleAxisd rollAngle(AngleAxisd(eulerAngle(0),Vector3d::UnitX()));
Eigen::AngleAxisd pitchAngle(AngleAxisd(eulerAngle(1),Vector3d::UnitY()));
Eigen::AngleAxisd yawAngle(AngleAxisd(eulerAngle(2),Vector3d::UnitZ()));
 
Eigen::Matrix3d rotation_matrix;
rotation_matrix=yawAngle*pitchAngle*rollAngle;

3.4 欧拉角 -> 四元数

Eigen::AngleAxisd rollAngle(AngleAxisd(eulerAngle(0),Vector3d::UnitX()));
Eigen::AngleAxisd pitchAngle(AngleAxisd(eulerAngle(1),Vector3d::UnitY()));
Eigen::AngleAxisd yawAngle(AngleAxisd(eulerAngle(2),Vector3d::UnitZ()));
 
Eigen::Quaterniond quaternion;
quaternion=yawAngle*pitchAngle*rollAngle;

---

4. 四元数

4.1 初始化

Eigen::Quaterniond quaternion(w,x,y,z);

4.2 四元数 -> 旋转向量

Eigen::AngleAxisd rotation_vector(quaternion);

Eigen::AngleAxisd rotation_vector;
rotation_vector=quaternion;

4.3 四元数 -> 旋转矩阵

Eigen::Matrix3d rotation_matrix;
rotation_matrix=quaternion.matrix();

Eigen::Matrix3d rotation_matrix;
rotation_matrix=quaternion.toRotationMatrix();

4.4 四元数 -> 欧拉角

Eigen::Vector3d eulerAngle=quaternion.matrix().eulerAngles(0,1,2);

5. Isometry3d

5.1 初始化

• 对各个元素赋值

Eigen::Isometry3d T1=Eigen::Isometry3d::Identity();
T1(0,0) = 1.000000e+00, T1(0,1) = 1.197624e-11, T1(0,2) = 1.704639e-10, T1(0,3) = 3.214096e-14;
T1(1,0) = 1.197625e-11, T1(1,1) = 1.197625e-11, T1(1,2) = 3.562503e-10, T1(1,3) = -1.998401e-15;
T1(2,0) = 1.704639e-10, T1(2,1) = 3.562503e-10, T1(2,2) = 1.000000e+00, T1(2,3) = -4.041212e-14;
T1(3,0) =            0, T1(3,1) =            0, T1(3,2) =            0, T1(3,3) =             1;

• 通过旋转矩阵和平移向量

Eigen::Isometry3d Tc1w = Eigen::Isometry3d::Identity();
Tc1w.rotate(rotation_matrix); // 按照rotation_matrix进行旋转
Tc1w.pretranslate(t);   // 把平移向量设成t                                          

• Eigen::Matrix4d构造变换矩阵

Eigen::Matrix4d T2;
T2.setIdentity();
T2.block<3,3>(0,0) = rotation_matrix1;
T2.topRightCorner(3, 1) = t1;

5.2 获取旋转矩阵

Eigen::Matrix3d rotation = Tc1w.rotation();

5.2 获取平移向量

Eigen::Vector3d position = Tc1w.translation();

---

6. Eigen::Affine3f和Eigen::Matrix4f的转换

Eigen::Affine3f A;
Eigen::Matrix4f M;
M = A.matrix();
A = M;

---

7. float 和 double类型转换

Eigen::MatrixXd matrix_d；
Eigen::MatrixXf matrix_f；
matrix_f = matrix_d.cast<float>();

TF

1.欧拉角yaw转四元数

tf::createQuaternionFromYaw(yaw);

1.四元数获取欧拉角yaw

tf::getYaw(orientation)

---

nav_msgs::Odometry

Header header
	uint32 seq
	time stamp
	string frame_id
string child_frame_id
geometry_msgs/PoseWithCovariance pose
	geometry_msgs/Point position
		float64 x
		float64 y
		float64 z
	geometry_msgs/Quaternion orientation
		float64 x
		float64 y
		float64 z
		float64 w
geometry_msgs/TwistWithCovariance twist
	geometry_msgs/Twist twist
		geometry_msgs/Vector3 linear
			float64 x
			float64 y
			float64 z
		geometry_msgs/Vector3 angular
			float64 x
			float64 y
			float64 z
	float64[36] covariance
	

持续完善…

参考文章：
Eigen位姿表示
使用Eigen实现四元数、欧拉角、旋转矩阵、旋转向量之间的转换