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#include <frames.hpp>
Public Member Functions | |
double | GetRot () const |
Gets the angle (in radians). | |
Vector2 | Inverse (const Vector2 &v) const |
Rotation2 | Inverse () const |
double | operator() (int i, int j) const |
Access to elements 0..1,0..1, bounds are checked when NDEBUG is not set. | |
Vector2 | operator* (const Vector2 &v) const |
Rotation2 & | operator= (const Rotation2 &arg) |
Rotation2 (double ca, double sa) | |
Rotation2 (double angle_rad) | |
Rotation2 () | |
Default constructor does NOT initialise to Zero(). | |
void | SetIdentity () |
void | SetInverse () |
void | SetRot (double angle) |
The SetRot.. functions set the value of *this to the appropriate rotation matrix. | |
Static Public Member Functions | |
static Rotation2 | Identity () |
static Rotation2 | Rot (double angle) |
The Rot... static functions give the value of the appropriate rotation matrix bac. | |
Private Attributes | |
double | c |
double | s |
Friends | |
bool | Equal (const Rotation2 &a, const Rotation2 &b, double eps=epsilon) |
Rotation2 | operator* (const Rotation2 &lhs, const Rotation2 &rhs) |
A 2D Rotation class, for conventions see Rotation. For further documentation of the methods see Rotation class.
Definition at line 1041 of file frames.hpp.
KDL::Rotation2::Rotation2 | ( | ) | [inline] |
Default constructor does NOT initialise to Zero().
c,s represent cos(angle), sin(angle), this also represents first col. of rot matrix from outside, this class behaves as if it would store the complete 2x2 matrix.
Definition at line 1048 of file frames.hpp.
KDL::Rotation2::Rotation2 | ( | double | angle_rad | ) | [inline, explicit] |
Definition at line 1050 of file frames.hpp.
KDL::Rotation2::Rotation2 | ( | double | ca, | |
double | sa | |||
) | [inline] |
Definition at line 1052 of file frames.hpp.
IMETHOD double KDL::Rotation2::GetRot | ( | ) | const [inline] |
Gets the angle (in radians).
Definition at line 898 of file frames.cpp.
IMETHOD Rotation2 KDL::Rotation2::Identity | ( | ) | [inline, static] |
Definition at line 880 of file frames.cpp.
Definition at line 876 of file frames.cpp.
IMETHOD Rotation2 KDL::Rotation2::Inverse | ( | ) | const [inline] |
Definition at line 872 of file frames.cpp.
IMETHOD double KDL::Rotation2::operator() | ( | int | i, | |
int | j | |||
) | const [inline] |
Access to elements 0..1,0..1, bounds are checked when NDEBUG is not set.
Definition at line 854 of file frames.cpp.
Definition at line 850 of file frames.cpp.
Definition at line 845 of file frames.cpp.
IMETHOD Rotation2 KDL::Rotation2::Rot | ( | double | angle | ) | [inline, static] |
The Rot... static functions give the value of the appropriate rotation matrix bac.
Definition at line 894 of file frames.cpp.
IMETHOD void KDL::Rotation2::SetIdentity | ( | ) | [inline] |
Definition at line 884 of file frames.cpp.
IMETHOD void KDL::Rotation2::SetInverse | ( | ) | [inline] |
Definition at line 868 of file frames.cpp.
IMETHOD void KDL::Rotation2::SetRot | ( | double | angle | ) | [inline] |
The SetRot.. functions set the value of *this to the appropriate rotation matrix.
Definition at line 890 of file frames.cpp.
do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval
Definition at line 1053 of file frames.cpp.
Definition at line 864 of file frames.cpp.
double KDL::Rotation2::c [private] |
Definition at line 1043 of file frames.hpp.
double KDL::Rotation2::s [private] |
Definition at line 1043 of file frames.hpp.