Eigen 四元数转欧拉角

Eigen::Quaterniond quaternion(pose.orientation.w, pose.orientation.x, pose.orientation.y, pose.orientation.z); Eigen::Vector3d eulerAngle = quaternion.matrix().eulerAngles(2,1,0); pose.position.z = eulerAngle[0] * 180.0 / 3.1415926;