四元數轉歐拉角&歐拉角轉四元數程序：四元數轉歐拉角&歐拉角轉四元數程序。

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#include "stdafx.h"#include "math.h"#include<iostream>#include<string.h>using namespace std;void EulerAnglesToQuaternion(double roll, double yaw, double pitch) { ????double cosRoll,sinRoll,cosPitch,sinPitch,cosyaw,sinyaw,qw,qx,qy,qz;????cosRoll = cosf(roll * 0.5f); //z????sinRoll = sinf(roll * 0.5f);//z????cosyaw= cosf(yaw * 0.5f);//y????sinyaw = sinf(yaw * 0.5f);//y????cosPitch = cosf(pitch * 0.5f);//x????sinPitch = sinf(pitch * 0.5f);//x????qw = cosRoll * cosyaw* cosPitch + sinRoll * sinyaw * sinPitch;????qx = cosRoll * sinyaw * cosPitch + sinRoll * cosyaw * sinPitch;????qy = cosRoll * cosyaw * sinPitch - sinRoll * sinyaw * cosPitch;????qz = sinRoll * cosyaw * cosPitch - cosRoll * sinyaw * sinPitch; ????cout << "qw = " << qw << endl;????cout << "qx = " << qx << endl;????cout << "qy = " << qy << endl;????cout << "qz = " << qz << endl;}void QuaternionToEulerAngles(double qw, double qx, double qy, double qz) {????double roll, yaw, pitch;????roll = atan2f(2.f * (qw*qz + qx*qy), 1-2*(qz*qz+qx*qx)); //Z????yaw =? asinf(2.f * (qw*qx - qy*qz)); //Y????pitch =atan2f(2.f * (qw*qy + qz*qx), 1-2*(qy*qy+qx*qx));//X????cout << "roll = " << roll << endl;????cout << "yaw = " << yaw << endl;????cout << "pitch = " << pitch << endl;}int main(){????QuaternionToEulerAngles(0, 0.707106, 0.707106, 0);????EulerAnglesToQuaternion(1.5707,0,3.14159);????return 0;}</string.h></iostream>

二、Ctrl+F5執行

三、結果

總結

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