geometry_msgs::Quaternion orientation = map->info.origin.orientation;
tf::Matrix3x3 mat(tf::Quaternion(orientation.x, orientation.y, orientation.z, orientation.w));
double yaw, pitch, roll;
mat.getEulerYPR(yaw, pitch, roll);
Quaternion Euler
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转载自www.cnblogs.com/cj2014/p/9066821.html
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