欧拉角旋转之困惑

MATLAB 欧拉角旋转

1） eul = [ pi/2 0 0];
rotmZYX = eul2rotm(eul)

rotmZYX =

    0.0000   -1.0000         0
    1.0000    0.0000         0
         0         0    1.0000

2）rotz(90)

ans =

     0    -1     0
     1     0     0
     0     0     1

Eigen欧拉角旋转

Eigen::AngleAxisd v(M_PI/4,Eigen::Vector3d(0,0,1));//沿z轴旋转了45度

rotation vector: Angle is: 45
  Axis is: 0 0 1

cout << "rotation vector: Angle is: " << v.angle() * (180 / M_PI)<<endl//旋转角 24 << " Axis is: " << v.axis().transpose() << endl<<endl;//旋转轴

输出为rotation vector: Angle is: 45
  Axis is: 0 0 1

R=
 0.707107 -0.707107         0
 0.707107  0.707107         0
        0         0         1

貌似都按照如下公式进行转换的