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ROS 开发
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ROS 开发 roll pitch yaw欧拉角计算四元素 x y z w C++实现
ROS 开发 通过欧拉角计算四元素 C++实现 void GetXYZWFromRPY(double roll, double pitch, double yaw, double& x, double& y, double& z, double& w) { roll /= 2; pitch /= 2; yaw /= 2; x = sin(roll) * cos(pitch) * cos(yaw) - cos(roll) * sin(pitch) * sin(y原创 2020-09-29 17:15:20 · 1323 阅读 · 0 评论 -
ROS x y z w四元素转欧拉角 roll pitch yaw C++实现
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 =原创 2020-09-29 17:12:51 · 1232 阅读 · 0 评论