1 #include <unsupported/Eigen/EulerAngles> 2 #include <iostream> 3 4 using namespace Eigen; 5 6 int main() 7 { 8 // A common Euler system by many armies around the world, 9 // where the first one is the azimuth(the angle from the north - 10 // the same angle that is show in compass) 11 // and the second one is elevation(the angle from the horizon) 12 // and the third one is roll(the angle between the horizontal body 13 // direction and the plane ground surface) 14 // Keep remembering we're using radian angles here! 15 typedef EulerSystem<-EULER_Z, EULER_Y, EULER_X> MyArmySystem; 16 typedef EulerAngles<double, MyArmySystem> MyArmyAngles; 17 18 MyArmyAngles vehicleAngles( 19 3.14/*PI*/ / 2, /* heading to east, notice that this angle is counter-clockwise */ 20 -0.3, /* going down from a mountain */ 21 0.1); /* slightly rolled to the right */ 22 23 // Some Euler angles representation that our plane use. 24 EulerAnglesZYZd planeAngles(0.78474, 0.5271, -0.513794); 25 26 MyArmyAngles planeAnglesInMyArmyAngles = MyArmyAngles::FromRotation<true, false, false>(planeAngles); 27 28 std::cout << "vehicle angles(MyArmy): " << vehicleAngles << std::endl; 29 std::cout << "plane angles(ZYZ): " << planeAngles << std::endl; 30 std::cout << "plane angles(MyArmy): " << planeAnglesInMyArmyAngles << std::endl; 31 32 // Now lets rotate the plane a little bit 33 std::cout << "==========================================================\n"; 34 std::cout << "rotating plane now!\n"; 35 std::cout << "==========================================================\n"; 36 37 Quaterniond planeRotated = AngleAxisd(-0.342, Vector3d::UnitY()) * planeAngles; 38 39 planeAngles = planeRotated; 40 planeAnglesInMyArmyAngles = MyArmyAngles::FromRotation<true, false, false>(planeRotated); 41 42 std::cout << "new plane angles(ZYZ): " << planeAngles << std::endl; 43 std::cout << "new plane angles(MyArmy): " << planeAnglesInMyArmyAngles << std::endl; 44 45 return 0; 46 } 47
