Public Types | Public Member Functions | Static Public Member Functions | Protected Attributes | List of all members
Rotation2D< _Scalar > Class Template Reference

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, DimRotationMatrixType
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
Scalarangle ()
template<typename NewScalarType >
internal::cast_return_type
< Rotation2D, Rotation2D
< NewScalarType > >::type 
cast () const
const Rotation2D< _Scalar > & derived () const
Rotation2D< _Scalar > & derived ()
template<typename Derived >
Rotation2DfromRotationMatrix (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, Isometryoperator* (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
Rotation2Doperator*= (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
_Scalarthe 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

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
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
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
inlineinherited
Returns
the concatenation of the rotation *this with a generic expression e e can be:
  • a DimxDim linear transformation matrix
  • a DimxDim diagonal matrix (axis aligned scaling)
  • a vector of size Dim
Rotation2D operator* ( const Rotation2D< _Scalar > &  other) const
inline

Concatenates two rotations

References Rotation2D< _Scalar >::m_angle.

Vector2 operator* ( const Vector2 vec) const
inline

Applies the rotation to a 2D vector

References Rotation2D< _Scalar >::toRotationMatrix().

Transform<Scalar,Dim,Mode> operator* ( const Transform< Scalar, Dim, Mode, Options > &  t) const
inlineinherited
Returns
the concatenation of the rotation *this with a transformation t
Rotation2D& operator*= ( const Rotation2D< _Scalar > &  other)
inline

Concatenates two rotations

References Rotation2D< _Scalar >::m_angle.

Rotation2D slerp ( Scalar  t,
const Rotation2D< _Scalar > &  other 
) const
inline
Returns
the spherical interpolation between *this and other using parameter t. It is in fact equivalent to a linear interpolation.

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

Rotation2D< Scalar >::Matrix2 toRotationMatrix ( void  ) const

Constructs and

Returns
an equivalent 2x2 rotation matrix.

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

References cos(), and sin().

Referenced by Rotation2D< _Scalar >::operator*().

Member Data Documentation

Scalar m_angle
protected

The documentation for this class was generated from the following file: