nest-open-source / nest-cam / v366 / eigen / 9d75fdbcd2b5a2fdab03a859ddefda95ce1217ed / . / unsupported / doc / examples / EulerAngles.cpp

#include <unsupported/Eigen/EulerAngles> | |

#include <iostream> | |

using namespace Eigen; | |

int main() | |

{ | |

// A common Euler system by many armies around the world, | |

// where the first one is the azimuth(the angle from the north - | |

// the same angle that is show in compass) | |

// and the second one is elevation(the angle from the horizon) | |

// and the third one is roll(the angle between the horizontal body | |

// direction and the plane ground surface) | |

// Keep remembering we're using radian angles here! | |

typedef EulerSystem<-EULER_Z, EULER_Y, EULER_X> MyArmySystem; | |

typedef EulerAngles<double, MyArmySystem> MyArmyAngles; | |

MyArmyAngles vehicleAngles( | |

3.14/*PI*/ / 2, /* heading to east, notice that this angle is counter-clockwise */ | |

-0.3, /* going down from a mountain */ | |

0.1); /* slightly rolled to the right */ | |

// Some Euler angles representation that our plane use. | |

EulerAnglesZYZd planeAngles(0.78474, 0.5271, -0.513794); | |

MyArmyAngles planeAnglesInMyArmyAngles(planeAngles); | |

std::cout << "vehicle angles(MyArmy): " << vehicleAngles << std::endl; | |

std::cout << "plane angles(ZYZ): " << planeAngles << std::endl; | |

std::cout << "plane angles(MyArmy): " << planeAnglesInMyArmyAngles << std::endl; | |

// Now lets rotate the plane a little bit | |

std::cout << "==========================================================\n"; | |

std::cout << "rotating plane now!\n"; | |

std::cout << "==========================================================\n"; | |

Quaterniond planeRotated = AngleAxisd(-0.342, Vector3d::UnitY()) * planeAngles; | |

planeAngles = planeRotated; | |

planeAnglesInMyArmyAngles = planeRotated; | |

std::cout << "new plane angles(ZYZ): " << planeAngles << std::endl; | |

std::cout << "new plane angles(MyArmy): " << planeAnglesInMyArmyAngles << std::endl; | |

return 0; | |

} |