Represents a rotation/orientation in a 2 dimensional space. More...
#include <Rotation2D.h>
Public Types | |
| enum | { Dim = 2 } |
| typedef Matrix< Scalar, 2, 2 > | Matrix2 |
| typedef _Scalar | Scalar |
| typedef Matrix< Scalar, 2, 1 > | Vector2 |
Public Member Functions | |
| Scalar & | angle () |
| Scalar | angle () const |
| template<typename NewScalarType > | |
| ei_cast_return_type < Rotation2D, Rotation2D < NewScalarType > >::type | cast () const |
| template<typename Derived > | |
| Rotation2D & | fromRotationMatrix (const MatrixBase< Derived > &m) |
| Rotation2D | inverse () const |
| bool | isApprox (const Rotation2D &other, typename NumTraits< Scalar >::Real prec=precision< Scalar >()) const |
| Vector2 | operator* (const Vector2 &vec) const |
| Rotation2D | operator* (const Rotation2D &other) const |
| Rotation2D & | operator*= (const Rotation2D &other) |
| template<typename OtherScalarType > | |
| Rotation2D (const Rotation2D< OtherScalarType > &other) | |
| Rotation2D (Scalar a) | |
| Rotation2D | slerp (Scalar t, const Rotation2D &other) const |
| Matrix2 | toRotationMatrix (void) const |
Protected Attributes | |
| Scalar | m_angle |
Private Types | |
| typedef RotationBase < Rotation2D< _Scalar >, 2 > | Base |
Represents a rotation/orientation in a 2 dimensional space.
| _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.
Definition at line 50 of file Rotation2D.h.
typedef RotationBase<Rotation2D<_Scalar>,2> Rotation2D< _Scalar >::Base [private] |
Definition at line 52 of file Rotation2D.h.
| typedef Matrix<Scalar,2,2> Rotation2D< _Scalar >::Matrix2 |
Definition at line 62 of file Rotation2D.h.
| typedef _Scalar Rotation2D< _Scalar >::Scalar |
the scalar type of the coefficients
Reimplemented from RotationBase< Rotation2D< _Scalar >, 2 >.
Definition at line 60 of file Rotation2D.h.
| typedef Matrix<Scalar,2,1> Rotation2D< _Scalar >::Vector2 |
Definition at line 61 of file Rotation2D.h.
| anonymous enum |
Definition at line 58 of file Rotation2D.h.
| Rotation2D< _Scalar >::Rotation2D | ( | Scalar | a | ) | [inline] |
Construct a 2D counter clock wise rotation from the angle a in radian.
Definition at line 71 of file Rotation2D.h.
| Rotation2D< _Scalar >::Rotation2D | ( | const Rotation2D< OtherScalarType > & | other | ) | [inline, explicit] |
Copy constructor with scalar type conversion
Definition at line 115 of file Rotation2D.h.
| Scalar& Rotation2D< _Scalar >::angle | ( | ) | [inline] |
Definition at line 77 of file Rotation2D.h.
| Scalar Rotation2D< _Scalar >::angle | ( | ) | const [inline] |
Definition at line 74 of file Rotation2D.h.
| ei_cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type Rotation2D< _Scalar >::cast | ( | ) | const [inline] |
*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.
Definition at line 110 of file Rotation2D.h.
| Rotation2D< Scalar > & Rotation2D< Scalar >::fromRotationMatrix | ( | const MatrixBase< Derived > & | mat | ) | [inline] |
Set *this from a 2x2 rotation matrix mat. In other words, this function extract the rotation angle from the rotation matrix.
Definition at line 141 of file Rotation2D.h.
| Rotation2D Rotation2D< _Scalar >::inverse | ( | void | ) | const [inline] |
Reimplemented from RotationBase< Rotation2D< _Scalar >, 2 >.
Definition at line 80 of file Rotation2D.h.
| bool Rotation2D< _Scalar >::isApprox | ( | const Rotation2D< _Scalar > & | other, | |
| typename NumTraits< Scalar >::Real | prec = precision<Scalar>() | |||
| ) | const [inline] |
true if *this is approximately equal to other, within the precision determined by prec.Definition at line 124 of file Rotation2D.h.
| Vector2 Rotation2D< _Scalar >::operator* | ( | const Vector2 & | vec | ) | const [inline] |
Applies the rotation to a 2D vector
Definition at line 91 of file Rotation2D.h.
| Rotation2D Rotation2D< _Scalar >::operator* | ( | const Rotation2D< _Scalar > & | other | ) | const [inline] |
Concatenates two rotations
Definition at line 83 of file Rotation2D.h.
| Rotation2D& Rotation2D< _Scalar >::operator*= | ( | const Rotation2D< _Scalar > & | other | ) | [inline] |
Concatenates two rotations
Definition at line 87 of file Rotation2D.h.
| Rotation2D Rotation2D< _Scalar >::slerp | ( | Scalar | t, | |
| const Rotation2D< _Scalar > & | other | |||
| ) | const [inline] |
*this and other using parameter t. It is in fact equivalent to a linear interpolation. Definition at line 101 of file Rotation2D.h.
| Rotation2D< Scalar >::Matrix2 Rotation2D< Scalar >::toRotationMatrix | ( | void | ) | const [inline] |
Constructs and
Reimplemented from RotationBase< Rotation2D< _Scalar >, 2 >.
Definition at line 152 of file Rotation2D.h.
Scalar Rotation2D< _Scalar >::m_angle [protected] |
Definition at line 66 of file Rotation2D.h.