笔记：Eigen中四元数和旋转矩阵的运算

//    //test quaerniond
//    Eigen::Quaterniond q_1(0.7,0.6,0.5,0.7);
//    Eigen::Quaterniond q_2(0.8,0.9,0.5,0.7);
//    Eigen::Quaterniond q_3,q_4;
//    Eigen::Matrix3d R_1 = q_1.normalized().toRotationMatrix();
//    Eigen::Matrix3d R_2 = q_2.normalized().toRotationMatrix();
//    Eigen::Matrix3d R_3;
//    R_3 = R_1 * R_2;
//    q_3 = q_1 * q_2;    //运行结果R_3 = q_3.nomalized().toRotationmatrix();
//
//    std::cout<<"R_1:"<<R_1.transpose()<<std::endl;
//    std::cout<<"R_2:"<<R_2.transpose()<<std::endl;
//    std::cout<<"R_3:"<<R_3.transpose()<<std::endl;
//    std::cout<<"q_3_to_R:"<<q_3.normalized().toRotationMatrix().transpose()<<std::endl;
//    std::cout<<"q_4_to_R:"<<q_4.normalized().toRotationMatrix().transpose()<<std::endl;