question about the transform between AngleAxis and EulerAngle

[Torchmm]

thank you for this nice code.
i have some confuse about the transform between angleaxis and eulerangle in the file of transform.h.
` static Transform exp(const Vector6& vector) {
constexpr float kEpsilon = 1e-8;
const float norm = vector.tail<3>().norm();
if (norm < kEpsilon) {
return Transform(vector.head<3>(), Rotation::Identity());
} else {
return Transform(vector.head<3>(), Rotation(Eigen::AngleAxisf(
norm, vector.tail<3>() / norm)));
}
}

Vector6 log() const {
Eigen::AngleAxisf angle_axis(rotation_);
return (Vector6() << translation_, angle_axis.angle() * angle_axis.axis())
.finished();
}`

it is hard for me to understand for this:
Eigen::AngleAxis(norm,vector.tail<3>()/norm),can euler angle convert to angle axis like this?
and i try it on a demo,but i can not get the right result.

my demo is like this :
`Eigen::Vector3f p(2,10,3);
float x = 30.0/180M_PI;
float y = 40.0/180M_PI;
float z = 50.0/180*M_PI;
Eigen::Vector3f v = Eigen::Vector3f(x,y,z);
float norm = v.norm();
Transform::Vector6 v1;
v1 << 0,0,0,x,y,z;
Transform t = Transform::exp(v1);
cout << t.rotation()*p << endl;

tf::Quaternion q = tf::createQuaternionFromRPY(x,y,z);
Eigen::Quaternionf q1(q.w(),q.x(),q.y(),q.z());
cout << q1*p << endl;`
but i get different result;
so can you tell me what is the problem about me?
thank you!

[linClubs]

RPY不是（z-y-x）么