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Editor to share with you how to achieve the conversion between Euler angle and quaternion, I believe that most people do not know much about it, so share this article for your reference, I hope you will learn a lot after reading this article. Let's learn about it.

/ / Euler Angle to Quaternion

Void cjx_from_euler (float roll, float pitch, float yaw)

{

Float cr2 = cosf (roll*0.5f)

Float cp2 = cosf (pitch*0.5f)

Float cy2 = cosf (yaw*0.5f)

Float sr2 = sinf (roll*0.5f)

Float sp2 = sinf (pitch*0.5f)

Float sy2 = sinf (yaw*0.5f)

Q1 = cr2*cp2*cy2 + sr2*sp2*sy2

Q2 = sr2*cp2*cy2-cr2*sp2*sy2

Q3 = cr2*sp2*cy2 + sr2*cp2*sy2

Q4 = cr2*cp2*sy2-sr2*sp2*cy2

}

# define RAD_TO_DEG 57.29577951f

/ / Radian to angle

Float degrees (float rad)

{

Return rad * RAD_TO_DEG

}

/ / Quaternion to Euler angle

Void cjx_to_euler (float * roll, float * pitch, float * yaw)

{

If (roll) {

* roll = degrees (atan2f (2.0f* (q1*q2 + q3*q4), 1-2.0f* (q2*q2 + q3*q3)

}

If (pitch) {

/ / use safe_asin () to deal with the singularity when pitch is close to 90-90.

* pitch = degrees (safe_asin (2.0f * (q1*q3-q2*q4)

}

If (yaw) {

* yaw = degrees (atan2f (2.0f* (q2*q3-q1*q4), 2.0f* (q1*q1 + q2*q2)-1))

}

}

These are all the contents of the article "how to convert Euler Angle to Quaternion". Thank you for reading! I believe we all have a certain understanding, hope to share the content to help you, if you want to learn more knowledge, welcome to follow the industry information channel!

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