1 #include 
     
       2 #include 
      
        3 using namespace std; 4  5 #include 
       
         6 // Eigen 几何模块 7 #include 
        
          8  9 10 int main ( int argc, char** argv )11 {12 13     //旋转矩阵R14     //3X3的旋转矩阵可以用Matrix3d，也Matrix3f15     Eigen::Matrix3d R=Eigen::Matrix3d::Identity();//将其赋值为单位矩阵16 //    Eigen::Matrix3d R;17 //    R.setIdentity();  //也是将旋转矩阵赋值为单位矩阵，与上面效果一样18     cout<<"R= \n"<
         
          <
         
        
       
      
     

运行结果：R=

1 0 0

0 1 0

0 0 1

rotation vector: Angle is: 45

  Axis is: 0 0 1

R=

 0.707107 -0.707107         0

 0.707107  0.707107         0

        0         0         1

q=

       0

       0

0.382683

 0.92388

q=

0

0

0.382683

0.92388

q=

       0

       0

0.382683

 0.92388

yaw(Z) pitch(Y) roll(X)=

0.785398       -0        0

R=

 0.707107 -0.707107         0

 0.707107  0.707107         0

        0         0         1

 0.707107 -0.707107         0

 0.707107  0.707107         0

        0         0         1