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00025 #ifndef EIGEN_ROTATION2D_H
00026 #define EIGEN_ROTATION2D_H
00027
00044 template<typename _Scalar> struct ei_traits<Rotation2D<_Scalar> >
00045 {
00046 typedef _Scalar Scalar;
00047 };
00048
00049 template<typename _Scalar>
00050 class Rotation2D : public RotationBase<Rotation2D<_Scalar>,2>
00051 {
00052 typedef RotationBase<Rotation2D<_Scalar>,2> Base;
00053
00054 public:
00055
00056 using Base::operator*;
00057
00058 enum { Dim = 2 };
00060 typedef _Scalar Scalar;
00061 typedef Matrix<Scalar,2,1> Vector2;
00062 typedef Matrix<Scalar,2,2> Matrix2;
00063
00064 protected:
00065
00066 Scalar m_angle;
00067
00068 public:
00069
00071 inline Rotation2D(Scalar a) : m_angle(a) {}
00072
00074 inline Scalar angle() const { return m_angle; }
00075
00077 inline Scalar& angle() { return m_angle; }
00078
00080 inline Rotation2D inverse() const { return -m_angle; }
00081
00083 inline Rotation2D operator*(const Rotation2D& other) const
00084 { return m_angle + other.m_angle; }
00085
00087 inline Rotation2D& operator*=(const Rotation2D& other)
00088 { return m_angle += other.m_angle; return *this; }
00089
00091 Vector2 operator* (const Vector2& vec) const
00092 { return toRotationMatrix() * vec; }
00093
00094 template<typename Derived>
00095 Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m);
00096 Matrix2 toRotationMatrix(void) const;
00097
00101 inline Rotation2D slerp(Scalar t, const Rotation2D& other) const
00102 { return m_angle * (1-t) + other.angle() * t; }
00103
00109 template<typename NewScalarType>
00110 inline typename ei_cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast() const
00111 { return typename ei_cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type(*this); }
00112
00114 template<typename OtherScalarType>
00115 inline explicit Rotation2D(const Rotation2D<OtherScalarType>& other)
00116 {
00117 m_angle = Scalar(other.angle());
00118 }
00119
00124 bool isApprox(const Rotation2D& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
00125 { return ei_isApprox(m_angle,other.m_angle, prec); }
00126 };
00127
00130 typedef Rotation2D<float> Rotation2Df;
00133 typedef Rotation2D<double> Rotation2Dd;
00134
00139 template<typename Scalar>
00140 template<typename Derived>
00141 Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
00142 {
00143 EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==2 && Derived::ColsAtCompileTime==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
00144 m_angle = ei_atan2(mat.coeff(1,0), mat.coeff(0,0));
00145 return *this;
00146 }
00147
00150 template<typename Scalar>
00151 typename Rotation2D<Scalar>::Matrix2
00152 Rotation2D<Scalar>::toRotationMatrix(void) const
00153 {
00154 Scalar sinA = ei_sin(m_angle);
00155 Scalar cosA = ei_cos(m_angle);
00156 return (Matrix2() << cosA, -sinA, sinA, cosA).finished();
00157 }
00158
00159 #endif // EIGEN_ROTATION2D_H