帮我用C++写一下四元素转欧拉角的程序

可以这样写：#include<math.h>void quaternion2euler(float q[4], float *yaw, float *pitch, float *roll)
{
float ysqr = q[1] * q[1];
float t0 = -2.0f * (ysqr + q[2] * q[2]) + 1.0f;
float t1 = +2.0f * (q[0] * q[1] + q[2] * q[3]);
float t2 = -2.0f * (q[0] * q[2] - q[1] * q[3]);
float t3 = +2.0f * (q[1] * q[3] + q[0] * q[2]);
float t4 = -2.0f * (q[0] * q[0] + ysqr) + 1.0f;

//这里需要注意的是：atan2返回的值是弧度制，我们需要将其转换为角度
*yaw = atan2(t3, t4) * 180.0f / M_PI;
*pitch = asin(t2) * 180.0f / M_PI;
*roll = atan2(t1, t0) * 180.0f / M_PI;
}

相关问题

用C++写一段在ros里面把四元素转换成欧拉角的代码

Sure! Here's a sample code in C++ to convert a quaternion to Euler angles in ROS:

#include <ros/ros.h>
#include <tf2/Math/Quaternion.h>
#include <tf2/LinearMath/Matrix3x3.h>

int main(int argc, char** argv)
{
    ros::init(argc, argv, "quaternion_to_euler");
    ros::NodeHandle nh;

    // Create a Quaternion
    tf2::Quaternion quaternion;
    quaternion.setRPY(0.1, 0.2, 0.3);  // Set the roll, pitch, and yaw angles

    // Convert Quaternion to Euler angles
    tf2::Matrix3x3 matrix(quaternion);
    double roll, pitch, yaw;
    matrix.getRPY(roll, pitch, yaw);

    // Print the Euler angles
    ROS_INFO("Euler angles: Roll = %f, Pitch = %f, Yaw = %f", roll, pitch, yaw);

    return 0;
}

In this code, we use the `tf2` library to work with quaternions and perform the conversion to Euler angles. The `setRPY` function is used to set the roll, pitch, and yaw angles of the quaternion. Then, we create a `Matrix3x3` object from the quaternion and use the `getRPY` function to extract the Euler angles.

Remember to compile this code with the appropriate ROS package dependencies and run it within a ROS environment.

用C++写一段在ros里面把车辆姿态orientation四元素转换成欧拉角的代码

Sure! Here's a sample code in C++ to convert the orientation of a vehicle's pose to Euler angles in ROS:

#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2/LinearMath/Matrix3x3.h>

void poseStampedCallback(const geometry_msgs::PoseStamped::ConstPtr& msg)
{
    // Extract the orientation quaternion from the PoseStamped message
    tf2::Quaternion quaternion;
    tf2::fromMsg(msg->pose.orientation, quaternion);

    // Convert quaternion to Euler angles
    tf2::Matrix3x3 matrix(quaternion);
    double roll, pitch, yaw;
    matrix.getRPY(roll, pitch, yaw);

    // Print the Euler angles
    ROS_INFO("Euler angles: Roll = %f, Pitch = %f, Yaw = %f", roll, pitch, yaw);
}

int main(int argc, char** argv)
{
    ros::init(argc, argv, "vehicle_pose_subscriber");
    ros::NodeHandle nh;

    ros::Subscriber sub = nh.subscribe("/vehicle_pose_topic", 1000, poseStampedCallback);

    ros::spin();

    return 0;
}

In this code, we create a subscriber to a topic named `/vehicle_pose_topic`, which receives `PoseStamped` messages that contain the vehicle's pose information. Inside the `poseStampedCallback` function, we extract the orientation quaternion from the received message using the `fromMsg` method of the `tf2::Quaternion` class. Then, we create a `Matrix3x3` object from the quaternion and use the `getRPY` method to obtain the Euler angles.

Remember to replace `/vehicle_pose_topic` with the actual topic name where your vehicle's pose information is being published.

Please make sure to compile this code with the appropriate ROS package dependencies and run it within a ROS environment.