三维坐标变换欧拉旋转变换 全局坐标系下的角度和本地坐标系下角度的欧拉旋转变换-Euler rotation transformation of the three-dimensional coordinate transformation Euler rotation transform the point of view of the global coordinate system and the local coordinate system point of view

本代码给出了欧拉角、旋转矩阵和四元数之间的变换关系。-This code gives the euler angles, the rotation matrix and the transformation of relationship between quaternion.