关于四元数和欧拉角的具体理论细节,这里不讲解了,自行百度百科去看,相关资料很多,这里直接给出C++的代码实现,直接复制即可使用
/**数学相关类*/
struct Quaternion {
double w, x, y, z;
};
struct EulerAngles {
double roll, pitch, yaw;
};
//欧拉角转化四元数
Quaternion ToQuaternion(double yaw, double pitch, double roll) // yaw (Z), pitch (Y), roll (X)
{
double cy = cos(yaw * 0.5);
double sy = sin(yaw * 0.5);
double cp = cos(pitch * 0.5);
double sp = sin(pitch * 0.5);
double cr = cos(roll * 0.5);
double sr = sin(roll * 0.5);
Quaternion q;
q.w = cy * cp * cr + sy * sp * sr;
q.x = cy * cp * sr - sy * sp * cr;
q.y = sy * cp * sr + cy * sp * cr;
q.z = sy * cp * cr - cy * sp * sr;
return q;
}
//四元数转化为欧拉角
EulerAngles ToEulerAngles(Quaternion q) {
EulerAngles angles;
// roll (x-axis rotation)
double sinr_cosp = 2 * (q.w * q.x + q.y * q.z);
double cosr_cosp = 1 - 2 * (q.x * q.x + q.y * q.y);
angles.roll = std::atan2(sinr_cosp, cosr_cosp);
// pitch (y-axis rotation)
double sinp = 2 * (q.w * q.y - q.z * q.x);
if (std::abs(sinp) >= 1)
angles.pitch = std::copysign(M_PI / 2, sinp); // use 90 degrees if out of range
else
angles.pitch = std::asin(sinp);
// yaw (z-axis rotation)
double siny_cosp = 2 * (q.w * q.z + q.x * q.y);
double cosy_cosp = 1 - 2 * (q.y * q.y + q.z * q.z);
angles.yaw = std::atan2(siny_cosp, cosy_cosp);
return angles;
}