X、Y、Z轴上旋转角度(欧拉角)的Eigen::Vector3d对象转换为一个旋转矩阵

#include <iostream>
#include <Eigen/Core>
#include <Eigen/Geometry>

using namespace std;
using namespace Eigen;

class Converter {
public:
  static Matrix3d angletocvMat(Vector3d &xyzangles) {
    Matrix3d Reigen;
    Reigen = AngleAxisd(xyzangles[2], Vector3d::UnitZ()) *
             AngleAxisd(xyzangles[1], Vector3d::UnitY()) *
             AngleAxisd(xyzangles[0], Vector3d::UnitX());
    return Reigen;
  }
};

int main() {
  // Create a vector of XYZ angles
  Vector3d xyzangles(1.0f, 0.5f, 0.0);

  // Convert the angles to a rotation matrix
  Matrix3d Reigen = Converter::angletocvMat(xyzangles);

  // Print the resulting rotation matrix
  cout << "The rotation matrix is:\n" << Reigen << endl;

  return 0;
}