Jane_yuhui的专栏

//! Compute cosine of the angle between two vectors. double computeCosineOfAngleBetweenVectors( const Eigen::VectorXd& vector0, const Eigen::VectorXd& vector1 ) { assert( vector0.size( ) == vector1.si.

// 计算绕着某个轴旋转指定角度的旋转矩阵 Eigen::AngleAxisd v(dAngle, fixedAxis); Eigen::Matrix3d rotMatrix = v.matrix(); // 移动的其中一个轴 Eigen::Vector3d axi1Before; Eigen::Vector3d axi1After; axi1After = rotMatrix * axi1Before; ...

已知两个向量，其中一个向量由另一个旋转得到，求他们的旋转矩阵。 Eigen::Matrix3d rotMatrix; Eigen::Vector3d vectorBefore(x, y, z) Eigen::Vector3d vectorAfter(a, b, c); rotMatrix = Eigen::Quaterniond::FromTwoVectors(vectorBefore, vectorAfter).toRotationMatrix(); Eigen::Vector3d ..