title: angle axis to Quaternion using Eigen
body: <p>I need to convert an angle axis representation to a Quaternion using Eigen</p>
  <p>For example I have the following angle axis representation of a pose from a UR robot (rotation part of the pose of the robot only)</p>
  <p>(-2.237 -2.217 -0.030)</p>
  <p>I want to convert this to a Quaternion using Eigen</p>
  <p>I tried this code</p>
  <pre><code>Eigen::Quaterniond q;
    q = AngleAxisd(-2.237, Vector3d::UnitX())
        * AngleAxisd(-2.217, Vector3d::UnitY())
        * AngleAxisd(-0.030, Vector3d::UnitZ());
  </code></pre>
  <p>but I end up with</p>
  <pre><code>qx: -3.9853142115731549e-01
  qy: -4.0057160431638472e-01
  qz: 7.9758941987327925e-01
  qw: 2.1110711374071198e-01
  </code></pre>
  <p>When I use this online conversion tool I get something different</p>
  <p><a href="https://www.andre-gaschler.com/rotationconverter/" rel="nofollow noreferrer">https://www.andre-gaschler.com/rotationconverter/</a></p>
  <p>What am I doing wrong?
  Thanks</p>