KDL::Rotation2 Class Reference

#include <frames.hpp>

List of all members.

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)

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Detailed Description

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.

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Constructor & Destructor Documentation

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.

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Member Function Documentation

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.

Vector2 KDL::Rotation2::operator*

(

const Vector2 &

v

)

const [inline]

Rotation2& KDL::Rotation2::operator=

(

const Rotation2 &

arg

)

[inline]

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.

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Friends And Related Function Documentation

bool Equal	(	const Rotation2 &	a,
		const Rotation2 &	b,
		double	eps
	)		[friend]

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Rotation2 operator*	(	const Rotation2 &	lhs,
		const Rotation2 &	rhs
	)		[friend]

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Member Data Documentation

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.

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

• frames.hpp