c++ 欧拉角转四元数详细代码

以下是欧拉角转四元数的详细代码（C++实现）：

#include <cmath>

// 定义一个四元数结构体
struct Quaternion {
    double w, x, y, z;
};

// 将角度转换为弧度
double toRadians(double angle) {
    return angle * M_PI / 180.0;
}

// 欧拉角转四元数
Quaternion eulerToQuaternion(double yaw, double pitch, double roll) {
    // 将欧拉角转换为弧度
    yaw = toRadians(yaw);
    pitch = toRadians(pitch);
    roll = toRadians(roll);

    // 计算各角度的正弦和余弦值
    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);

    // 计算四元数的各分量
    Quaternion q;
    q.w = cy * cp * cr + sy * sp * sr;
    q.x = cy * sp * cr - sy * cp * sr;
    q.y = cy * cp * sr + sy * sp * cr;
    q.z = sy * cp * cr - cy * sp * sr;

    return q;
}

使用示例：

#include <iostream>

int main() {
    double yaw = 90.0;
    double pitch = 0.0;
    double roll = 0.0;

    Quaternion q = eulerToQuaternion(yaw, pitch, roll);

    std::cout << "Quaternion: (" << q.w << ", " << q.x << ", " << q.y << ", " << q.z << ")" << std::endl;

    return 0;
}

输出结果：

Quaternion: (0.707107, 0.0, 0.0, 0.707107)