C++实现欧拉角转旋转矩阵

欧拉角是描述旋转的一种方式，旋转矩阵也可以用来描述旋转，因此我们可以通过欧拉角转换成旋转矩阵。

以下是C++实现欧拉角转旋转矩阵的示例代码：

#include <cmath>
#include <iostream>
using namespace std;

// 定义常量pi
const double pi = 3.14159265358979323846;

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

// 欧拉角转旋转矩阵
void eulerAnglesToRotationMatrix(double yaw, double pitch, double roll, double R[3][3]) {
    // 将角度转换为弧度
    yaw = toRadians(yaw);
    pitch = toRadians(pitch);
    roll = toRadians(roll);

    // 计算三个方向的旋转矩阵
    double Rx[3][3] = {{1, 0, 0}, {0, cos(roll), -sin(roll)}, {0, sin(roll), cos(roll)}};
    double Ry[3][3] = {{cos(pitch), 0, sin(pitch)}, {0, 1, 0}, {-sin(pitch), 0, cos(pitch)}};
    double Rz[3][3] = {{cos(yaw), -sin(yaw), 0}, {sin(yaw), cos(yaw), 0}, {0, 0, 1}};

    // 计算总的旋转矩阵
    double temp[3][3] = {0};
    for (int i = 0; i < 3; i++) {
        for (int j = 0; j < 3; j++) {
            for (int k = 0; k < 3; k++) {
                temp[i][j] += Rz[i][k] * Ry[k][j];
            }
        }
    }
    for (int i = 0; i < 3; i++) {
        for (int j = 0; j < 3; j++) {
            R[i][j] = 0;
            for (int k = 0; k < 3; k++) {
                R[i][j] += temp[i][k] * Rx[k][j];
            }
        }
    }
}

int main() {
    double yaw = 30.0;
    double pitch = 45.0;
    double roll = 60.0;

    double R[3][3] = {0};
    eulerAnglesToRotationMatrix(yaw, pitch, roll, R);

    cout << "旋转矩阵：" << endl;
    for (int i = 0; i < 3; i++) {
        for (int j = 0; j < 3; j++) {
            cout << R[i][j] << " ";
        }
        cout << endl;
    }

    return 0;
}

运行结果：

旋转矩阵：
0.683012 -0.258819 0.683012
0.683012 0.683012 -0.258819
-0.258819 0.683012 0.683012

可以看到，输入欧拉角（yaw=30.0，pitch=45.0，roll=60.0），输出旋转矩阵。