Represents a rotation/orientation in a 2 dimensional space. More...

#include <Rotation2D.h>

Inheritance diagram for Rotation2D< _Scalar >:

Public Types
enum	{ Dim }
enum
typedef Matrix< Scalar, 2, 2 >	Matrix2
typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType
typedef _Scalar	Scalar
typedef Matrix< Scalar, 2, 1 >	Vector2
typedef Matrix< Scalar, Dim, 1 >	VectorType

Public Member Functions
VectorType	_transformVector (const OtherVectorType &v) const
Scalar	angle () const
Scalar &	angle ()
template<typename NewScalarType >
internal::cast_return_type < Rotation2D, Rotation2D < NewScalarType > >::type	cast () const
const Rotation2D< _Scalar > &	derived () const
Rotation2D< _Scalar > &	derived ()
template<typename Derived >
Rotation2D &	fromRotationMatrix (const MatrixBase< Derived > &m)
Rotation2D	inverse () const
bool	isApprox (const Rotation2D &other, typename NumTraits< Scalar >::Real prec=NumTraits< Scalar >::dummy_precision()) const
RotationMatrixType	matrix () const
Transform< Scalar, Dim, Isometry >	operator* (const Translation< Scalar, Dim > &t) const
RotationMatrixType	operator* (const UniformScaling< Scalar > &s) const
internal::rotation_base_generic_product_selector < Rotation2D< _Scalar > , OtherDerived, OtherDerived::IsVectorAtCompileTime > ::ReturnType	operator* (const EigenBase< OtherDerived > &e) const
Rotation2D	operator* (const Rotation2D &other) const
Vector2	operator* (const Vector2 &vec) const
Transform< Scalar, Dim, Mode >	operator* (const Transform< Scalar, Dim, Mode, Options > &t) const
Rotation2D &	operator*= (const Rotation2D &other)
	Rotation2D (Scalar a)
template<typename OtherScalarType >
	Rotation2D (const Rotation2D< OtherScalarType > &other)
Rotation2D	slerp (Scalar t, const Rotation2D &other) const
Matrix2	toRotationMatrix (void) const

Static Public Member Functions
static Rotation2D	Identity ()

Protected Attributes
Scalar	m_angle

Detailed Description

template<typename _Scalar>
class Eigen::Rotation2D< _Scalar >

Represents a rotation/orientation in a 2 dimensional space.

This is defined in the Geometry module.

#include <Eigen/Geometry>

Parameters:

_Scalar the scalar type, i.e., the type of the coefficients

This class is equivalent to a single scalar representing a counter clock wise rotation as a single angle in radian. It provides some additional features such as the automatic conversion from/to a 2x2 rotation matrix. Moreover this class aims to provide a similar interface to Quaternion in order to facilitate the writing of generic algorithms dealing with rotations.

See also:: class Quaternion, class Transform

Member Typedef Documentation

typedef Matrix<Scalar,2,2> Matrix2

typedef Matrix<Scalar,Dim,Dim> RotationMatrixType

inherited

corresponding linear transformation matrix type

typedef _Scalar Scalar

the scalar type of the coefficients

Reimplemented from RotationBase< Rotation2D< _Scalar >, 2 >.

typedef Matrix<Scalar,2,1> Vector2

typedef Matrix<Scalar,Dim,1> VectorType

inherited

Member Enumeration Documentation

anonymous enum

Enumerator:

Dim

anonymous enum

inherited

Constructor & Destructor Documentation

Rotation2D ( Scalar a )

inline

Construct a 2D counter clock wise rotation from the angle a in radian.

Referenced by Rotation2D< _Scalar >::Identity().

Rotation2D ( const Rotation2D< OtherScalarType > & other )

inlineexplicit

Copy constructor with scalar type conversion

References Rotation2D< _Scalar >::angle(), and Rotation2D< _Scalar >::m_angle.

Member Function Documentation

VectorType _transformVector ( const OtherVectorType & v ) const

inlineinherited

Scalar angle ( ) const

inline

Returns:: the rotation angle

References Rotation2D< _Scalar >::m_angle.

Referenced by Rotation2D< _Scalar >::Rotation2D(), and Rotation2D< _Scalar >::slerp().

Scalar& angle ( )

inline

Returns:: a read-write reference to the rotation angle

References Rotation2D< _Scalar >::m_angle.

internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast ( ) const

inline

Returns:: *this with scalar type casted to NewScalarType

Note that if NewScalarType is equal to the current scalar type of *this then this function smartly returns a const reference to *this.

const Rotation2D< _Scalar > & derived ( ) const

inlineinherited

Rotation2D< _Scalar > & derived ( )

inlineinherited

Rotation2D< Scalar > & fromRotationMatrix ( const MatrixBase< Derived > & mat )

Set *this from a 2x2 rotation matrix mat. In other words, this function extract the rotation angle from the rotation matrix.

References EIGEN_STATIC_ASSERT.

static Rotation2D Identity ( )

inlinestatic

References Rotation2D< _Scalar >::Rotation2D().

Rotation2D inverse ( ) const

inline

Returns:: the inverse rotation

Reimplemented from RotationBase< Rotation2D< _Scalar >, 2 >.

References Rotation2D< _Scalar >::m_angle.

bool isApprox	(	const Rotation2D< _Scalar > &	other,
		typename NumTraits< Scalar >::Real	prec = `NumTraits<Scalar>::dummy_precision()`
	)		const

inline

Returns:: true if *this is approximately equal to other, within the precision determined by prec.

See also:: MatrixBase::isApprox()

References Rotation2D< _Scalar >::m_angle.

RotationMatrixType matrix ( ) const

inlineinherited

Returns:: an equivalent rotation matrix This function is added to be conform with the Transform class' naming scheme.

Transform<Scalar,Dim,Isometry> operator* ( const Translation< Scalar, Dim > & t ) const

inlineinherited

Returns:: the concatenation of the rotation *this with a translation t

RotationMatrixType operator* ( const UniformScaling< Scalar > & s ) const

inlineinherited

Returns:: the concatenation of the rotation *this with a uniform scaling s

internal::rotation_base_generic_product_selector<Rotation2D< _Scalar > ,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType operator* ( const EigenBase< OtherDerived > & e ) const