写在前面

1、本文内容
在自己的程序中使用Eigen库，用cmake实现

2、平台
windows，linux
3、转载请注明出处：
https://blog.csdn.net/qq_41102371/article/details/126319996

准备

下载Eigen源码放在想要的位置，此处为source_code，并解压
https://eigen.tuxfamily.org/index.php?title=Main_Page
以当前下载的cmake3.4为例，解压后的目录结构为source_code/eigen-3.4.0

通过cmake安装

cd source_code
cmake -S ./eigen-3.4.0 -B ./build_eigen -DCMAKE_INSTALL_PREFIX="D:/carlos/install/Eigen"
cmake --build ./build_eigen --target install
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其中-DCMAKE_INSTALL_PREFIX="D:/carlos/install/Eigen"就是你想安装的位置，成功安装完成之后，会在相应位置找到Eigen

使用

实现欧拉角转旋转矩阵的程序euler2rt.cpp

#include 
#include 
#include 
#define PI 3.1415926

int main(int argc, char* argv[]){
    std::cout<<PI<<std::endl;
    if(argc<4){
        std::cout<<"please input a 3x1 vector,for example:\neuler2rt 45 30 60"<<std::endl;
        return 0;  
    }
    
    Eigen::Vector3d eulerAngle(atof(argv[1]),atof(argv[2]),atof(argv[3]));
    std::cout<<"eulerAngle:\nx: "<<eulerAngle[0]<<"    y: "<<eulerAngle[1]<<"    z: "<<eulerAngle[2]<<std::endl;
    eulerAngle=eulerAngle/180*PI;


    Eigen::Matrix3d rotation_matrix = Eigen::Matrix3d::Identity();
        Eigen::AngleAxisd rollAngle(Eigen::AngleAxisd(eulerAngle[0],Eigen::Vector3d::UnitX()));
    Eigen::AngleAxisd pitchAngle(Eigen::AngleAxisd(eulerAngle[1],Eigen::Vector3d::UnitY()));
    Eigen::AngleAxisd yawAngle(Eigen::AngleAxisd(eulerAngle[2],Eigen::Vector3d::UnitZ()));


    rotation_matrix=rollAngle*pitchAngle*yawAngle;

    std::cout<<"rotation_matrix:\n"<<rotation_matrix<<std::endl;
    Eigen::Vector3d eulerAngle2=rotation_matrix.eulerAngles(0,1,2);
     std::cout<<"eulerAngle:\nx: "<<eulerAngle2[0]/PI*180<<"    y: "<<eulerAngle2[1]/PI*180<<"    z: "<<eulerAngle2[2]/PI*180<<std::endl;

    return 0;
}
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CMakeLists.txt

cmake_minimum_required(VERSION 3.18 FATAL_ERROR)
project(Euler2rt)
find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIRS})
add_executable (euler2rt euler2rt.cpp)
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编译

cmake -S ./ -B ./build -DEigen3_DIR="D:/carlos/install/Eigen/share/eigen3/cmake"
cmake --build ./build --config Release --parallel 8
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其中，-DEigen3_DIR就是指定Eigen安装路径下cmake的路径

参考

四元数、罗德里格斯公式、欧拉角、旋转矩阵推导和资料 https://blog.csdn.net/qq_41102371/article/details/126002167

完

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