ROS roll pitch yaw 欧拉角转四元素 C++实现
void GetRPYFromXYZW(double x, double y, double z, double w, double& roll, double& pitch, double& yaw)
{
roll = atan2(2 * (w * x + y * z), 1 - 2 * (x * x + y * y));
pitch = asin(2 * (w * y - z * x));
yaw = atan2(2 * (w * z + x * y), 1 - 2 * (y * y + z * z));
}
x y z w 对应四元素 , roll pitch yaw 返回欧拉角