#include <frames.hpp>
Public Member Functions | |
double | GetRot () const |
Gets the angle (in radians) | |
Rotation2 | Inverse () const |
Vector2 | Inverse (const Vector2 &v) 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 () | |
Default constructor does NOT initialise to Zero(). | |
Rotation2 (double angle_rad) | |
Rotation2 (double ca, double sa) | |
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) |
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 1050 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 1057 of file frames.hpp.
KDL::Rotation2::Rotation2 | ( | double | angle_rad | ) | [inline, explicit] |
Definition at line 1059 of file frames.hpp.
KDL::Rotation2::Rotation2 | ( | double | ca, |
double | sa | ||
) | [inline] |
Definition at line 1061 of file frames.hpp.
double KDL::Rotation2::GetRot | ( | ) | const [inline] |
Gets the angle (in radians)
static Rotation2 KDL::Rotation2::Identity | ( | ) | [inline, static] |
Rotation2 KDL::Rotation2::Inverse | ( | ) | const [inline] |
Vector2 KDL::Rotation2::Inverse | ( | const Vector2 & | v | ) | const [inline] |
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.
static Rotation2 KDL::Rotation2::Rot | ( | double | angle | ) | [inline, static] |
The Rot... static functions give the value of the appropriate rotation matrix bac.
void KDL::Rotation2::SetIdentity | ( | ) | [inline] |
void KDL::Rotation2::SetInverse | ( | ) | [inline] |
void KDL::Rotation2::SetRot | ( | double | angle | ) | [inline] |
The SetRot.. functions set the value of *this to the appropriate rotation matrix.
do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval
double KDL::Rotation2::c [private] |
Definition at line 1052 of file frames.hpp.
double KDL::Rotation2::s [private] |
Definition at line 1052 of file frames.hpp.