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欧拉角转旋转矩阵公式:
旋转矩阵转欧拉角公式:
旋转矩阵转四元数公式,其中1+r11+r22+r33>0:
四元数转旋转矩阵公式,q0^2+q1^2+q2^2+q3^2=1:
欧拉角转四元数公式:
四元数转欧拉角公式:
matlab代码如下:
- clear all;
- close all;
- clc;
- %欧拉角
- x = 0.5;
- y = 0.6;
- z = 0.7;
- Ang1 = [x y z];
- %欧拉角转旋转矩阵
- Rx = [1 0 0;
- 0 cos(x) -sin(x);
- 0 sin(x) cos(x)];
- Ry = [cos(y) 0 sin(y);
- 0 1 0;
- -sin(y) 0 cos(y)];
- Rz = [cos(z) -sin(z) 0;
- sin(z) cos(z) 0;
- 0 0 1];
- R = Rz*Ry*Rx;
- R1 = R;
- %旋转矩阵转欧拉角
- x = atan2(R(3,2),R(3,3));
- y = atan2(-R(3,1),sqrt(R(3,2)^2+R(3,3)^2));
- z = atan2(R(2,1),R(1,1));
- Ang2 = [x y z];
- %旋转矩阵转四元数
- t=sqrt(1+R(1,1)+R(2,2)+R(3,3))/2;
- q=[t (R(3,2)-R(2,3))/(4*t) (R(1,3)-R(3,1))/(4*t) (R(2,1)-R(1,2))/(4*t)];
- Q1 = q;
- %四元数转旋转矩阵
- R=[ 2*q(1).^2-1+2*q(2)^2 2*(q(2)*q(3)-q(1)*q(4)) 2*(q(2)*q(4)+q(1)*q(3));
- 2*(q(2)*q(3)+q(1)*q(4)) 2*q(1)^2-1+2*q(3)^2 2*(q(3)*q(4)-q(1)*q(2));
- 2*(q(2)*q(4)-q(1)*q(3)) 2*(q(3)*q(4)+q(1)*q(2)) 2*q(1)^2-1+2*q(4)^2];
- R2 = R;
- %欧拉角转四元数
- q = [cos(x/2)*cos(y/2)*cos(z/2) + sin(x/2)*sin(y/2)*sin(z/2) ...
- sin(x/2)*cos(y/2)*cos(z/2) - cos(x/2)*sin(y/2)*sin(z/2) ...
- cos(x/2)*sin(y/2)*cos(z/2) + sin(x/2)*cos(y/2)*sin(z/2) ...
- cos(x/2)*cos(y/2)*sin(z/2) - sin(x/2)*sin(y/2)*cos(z/2)];
- Q2 = q;
- %四元数转欧拉角
- x = atan2(2*(q(1)*q(2)+q(3)*q(4)),1 - 2*(q(2)^2+q(3)^2));
- y = asin(2*(q(1)*q(3) - q(2)*q(4)));
- z = atan2(2*(q(1)*q(4)+q(2)*q(3)),1 - 2*(q(3)^2+q(4)^2));
- Ang3 = [x y z];
- Ang1
- Ang2
- Ang3
- R1
- R2
- Q1
- Q2
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