47 lines
1.8 KiB
C++
47 lines
1.8 KiB
C++
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#include <unsupported/Eigen/EulerAngles>
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#include <iostream>
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using namespace Eigen;
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int main()
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{
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// A common Euler system by many armies around the world,
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// where the first one is the azimuth(the angle from the north -
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// the same angle that is show in compass)
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// and the second one is elevation(the angle from the horizon)
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// and the third one is roll(the angle between the horizontal body
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// direction and the plane ground surface)
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// Keep remembering we're using radian angles here!
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typedef EulerSystem<-EULER_Z, EULER_Y, EULER_X> MyArmySystem;
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typedef EulerAngles<double, MyArmySystem> MyArmyAngles;
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MyArmyAngles vehicleAngles(
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3.14/*PI*/ / 2, /* heading to east, notice that this angle is counter-clockwise */
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-0.3, /* going down from a mountain */
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0.1); /* slightly rolled to the right */
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// Some Euler angles representation that our plane use.
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EulerAnglesZYZd planeAngles(0.78474, 0.5271, -0.513794);
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MyArmyAngles planeAnglesInMyArmyAngles(planeAngles);
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std::cout << "vehicle angles(MyArmy): " << vehicleAngles << std::endl;
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std::cout << "plane angles(ZYZ): " << planeAngles << std::endl;
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std::cout << "plane angles(MyArmy): " << planeAnglesInMyArmyAngles << std::endl;
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// Now lets rotate the plane a little bit
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std::cout << "==========================================================\n";
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std::cout << "rotating plane now!\n";
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std::cout << "==========================================================\n";
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Quaterniond planeRotated = AngleAxisd(-0.342, Vector3d::UnitY()) * planeAngles;
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planeAngles = planeRotated;
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planeAnglesInMyArmyAngles = planeRotated;
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std::cout << "new plane angles(ZYZ): " << planeAngles << std::endl;
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std::cout << "new plane angles(MyArmy): " << planeAnglesInMyArmyAngles << std::endl;
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return 0;
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}
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