TooN::SO2< Precision > Class Template Reference
[Transformation matrices]

#include <so2.h>

List of all members.

Classes
struct	Invert
Public Member Functions
void	coerce ()
	Modifies the matrix to make sure it is a valid rotation matrix.
const Matrix< 2, 2, Precision > &	get_matrix () const
	Returns the SO2 as a Matrix<2>
SO2	inverse () const
	Returns the inverse of this matrix (=the transpose, so this is a fast operation).
Precision	ln () const
	extracts the rotation angle from the SO2
SO2	operator* (const SO2 &rhs) const
	Right-multiply by another rotation matrix.
SO2 &	operator*= (const SO2 &rhs)
	Self right-multiply by another rotation matrix.
template<int R, int C, typename P , typename A >
SO2 &	operator= (const Matrix< R, C, P, A > &rhs)
	SO2 (const Precision l)
	Construct from an angle.
	SO2 (const Matrix< 2, 2, Precision > &rhs)
	Construct from a rotation matrix.
	SO2 ()
	Default constructor. Initialises the matrix to the identity (no rotation).
Static Public Member Functions
static SO2	exp (const Precision &d)
	Exponentiate an angle in the Lie algebra to generate a new SO2.
static Matrix< 2, 2, Precision >	generator ()
	returns generator matrix
Private Member Functions
	SO2 (const SO2 &a, const SO2 &b)
	SO2 (const SO2 &so2, const Invert &)
Private Attributes
Matrix< 2, 2, Precision >	my_matrix
Friends
std::istream &	operator>> (std::istream &, SE2< Precision > &)
std::istream &	operator>> (std::istream &, SO2 &)
Related Functions
(Note that these are not member functions.)
template<int R, int C, typename P1 , typename P2 , typename Accessor >
Matrix< R, 2, typename Internal::MultiplyType< P1, P2 > ::type >	operator* (const Matrix< R, C, P1, Accessor > &lhs, const SO2< P2 > &rhs)
template<int R, int C, typename P1 , typename P2 , typename Accessor >
Matrix< 2, C, typename Internal::MultiplyType< P1, P2 > ::type >	operator* (const SO2< P1 > &lhs, const Matrix< R, C, P2, Accessor > &rhs)
template<int D, typename P1 , typename PV , typename Accessor >
Vector< 2, typename Internal::MultiplyType< PV, P1 > ::type >	operator* (const Vector< D, PV, Accessor > &lhs, const SO2< P1 > &rhs)
template<int D, typename P1 , typename PV , typename Accessor >
Vector< 2, typename Internal::MultiplyType< P1, PV > ::type >	operator* (const SO2< P1 > &lhs, const Vector< D, PV, Accessor > &rhs)
template<typename Precision >
SE2< Precision >	operator* (const SO2< Precision > &lhs, const SE2< Precision > &rhs)
template<typename Precision >
std::ostream &	operator<< (std::ostream &os, const SO2< Precision > &rhs)

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Detailed Description

template<typename Precision = double>
class TooN::SO2< Precision >

Class to represent a two-dimensional rotation matrix. Two-dimensional rotation matrices are members of the Special Orthogonal Lie group SO2. This group can be parameterised with one number (the rotation angle).

Definition at line 50 of file so2.h.

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Constructor & Destructor Documentation

template<typename Precision = double>

TooN::SO2< Precision >::SO2

(

)

[inline]

Default constructor. Initialises the matrix to the identity (no rotation).

Definition at line 56 of file so2.h.

template<typename Precision = double>

TooN::SO2< Precision >::SO2

(

const Matrix< 2, 2, Precision > &

rhs

)

[inline]

Construct from a rotation matrix.

Definition at line 59 of file so2.h.

template<typename Precision = double>

TooN::SO2< Precision >::SO2

(

const Precision

l

)

[inline]

Construct from an angle.

Definition at line 62 of file so2.h.

template<typename Precision = double>

TooN::SO2< Precision >::SO2	(	const SO2< Precision > &	so2,
		const Invert &
	)			[inline, private]

Definition at line 117 of file so2.h.

template<typename Precision = double>

TooN::SO2< Precision >::SO2	(	const SO2< Precision > &	a,
		const SO2< Precision > &	b
	)			[inline, private]

Definition at line 118 of file so2.h.

---

Member Function Documentation

template<typename Precision = double>

void TooN::SO2< Precision >::coerce

(

)

[inline]

Modifies the matrix to make sure it is a valid rotation matrix.

Definition at line 74 of file so2.h.

template<typename Precision = double>

static SO2 TooN::SO2< Precision >::exp

(

const Precision &

d

)

[inline, static]

Exponentiate an angle in the Lie algebra to generate a new SO2.

Definition at line 81 of file so2.h.

template<typename Precision = double>

static Matrix<2,2,Precision> TooN::SO2< Precision >::generator

(

)

[inline, static]

returns generator matrix

Definition at line 108 of file so2.h.

template<typename Precision = double>

const Matrix<2,2,Precision>& TooN::SO2< Precision >::get_matrix

(

)

const [inline]

Returns the SO2 as a Matrix<2>

Definition at line 105 of file so2.h.

template<typename Precision = double>

SO2 TooN::SO2< Precision >::inverse

(

)

const [inline]

Returns the inverse of this matrix (=the transpose, so this is a fast operation).

Definition at line 93 of file so2.h.

template<typename Precision = double>

Precision TooN::SO2< Precision >::ln

(

)

const [inline]

extracts the rotation angle from the SO2

Definition at line 90 of file so2.h.

template<typename Precision = double>

SO2 TooN::SO2< Precision >::operator*

(

const SO2< Precision > &

rhs

)

const [inline]

Right-multiply by another rotation matrix.

Definition at line 102 of file so2.h.

template<typename Precision = double>

SO2& TooN::SO2< Precision >::operator*=

(

const SO2< Precision > &

rhs

)

[inline]

Self right-multiply by another rotation matrix.

Definition at line 96 of file so2.h.

template<typename Precision = double>

template<int R, int C, typename P , typename A >

SO2& TooN::SO2< Precision >::operator=

(

const Matrix< R, C, P, A > &

rhs

)

[inline]

Assigment operator from a general matrix. This also calls coerce() to make sure that the matrix is a valid rotation matrix.

Definition at line 67 of file so2.h.

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Friends And Related Function Documentation

template<int R, int C, typename P1 , typename P2 , typename Accessor >

Matrix< R, 2, typename Internal::MultiplyType< P1, P2 >::type > operator*	(	const Matrix< R, C, P1, Accessor > &	lhs,
		const SO2< P2 > &	rhs
	)			[related]

Left-multiply by a Matrix

Definition at line 162 of file so2.h.

template<int R, int C, typename P1 , typename P2 , typename Accessor >

Matrix< 2, C, typename Internal::MultiplyType< P1, P2 >::type > operator*	(	const SO2< P1 > &	lhs,
		const Matrix< R, C, P2, Accessor > &	rhs
	)			[related]

Right-multiply by a Matrix

Definition at line 155 of file so2.h.

template<int D, typename P1 , typename PV , typename Accessor >

Vector< 2, typename Internal::MultiplyType< PV, P1 >::type > operator*	(	const Vector< D, PV, Accessor > &	lhs,
		const SO2< P1 > &	rhs
	)			[related]

Left-multiply by a Vector

Definition at line 148 of file so2.h.

template<int D, typename P1 , typename PV , typename Accessor >

Vector< 2, typename Internal::MultiplyType< P1, PV >::type > operator*	(	const SO2< P1 > &	lhs,
		const Vector< D, PV, Accessor > &	rhs
	)			[related]

Right-multiply by a Vector

Definition at line 141 of file so2.h.

template<typename Precision >

SE2< Precision > operator*	(	const SO2< Precision > &	lhs,
		const SE2< Precision > &	rhs
	)			[related]

Multiply a SO2 with and SE2

Definition at line 371 of file se2.h.

template<typename Precision >

std::ostream & operator<<	(	std::ostream &	os,
		const SO2< Precision > &	rhs
	)			[related]

Write an SO2 to a stream

Definition at line 126 of file so2.h.

template<typename Precision = double>

std::istream & operator>>	(	std::istream &	is,
		SE2< Precision > &	rhs
	)			[friend]

Read an SE2 from a stream

Definition at line 150 of file se2.h.

template<typename Precision = double>

std::istream & operator>>	(	std::istream &	is,
		SO2< Precision > &	rhs
	)			[friend]

Read from SO2 to a stream

Definition at line 133 of file so2.h.

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Member Data Documentation

template<typename Precision = double>

Matrix<2,2,Precision> TooN::SO2< Precision >::my_matrix [private]

Definition at line 120 of file so2.h.

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

• so2.h
• se2.h