Represents a rotation/orientation in a 2 dimensional space. More...
#include <ForwardDeclarations.h>
Public Types | |
| enum | { Dim = 2 } |
| typedef Matrix< Scalar, 2, 2 > | Matrix2 |
| typedef _Scalar | Scalar |
| typedef Matrix< Scalar, 2, 1 > | Vector2 |
 Public Types inherited from Eigen::RotationBase< Rotation2D< _Scalar >, 2 > | |
| enum | |
| typedef Matrix< Scalar, Dim, Dim > | RotationMatrixType |
| typedef internal::traits< Rotation2D< _Scalar > >::Scalar | Scalar |
| typedef Matrix< Scalar, Dim, 1 > | VectorType |
Public Member Functions | |
| EIGEN_DEVICE_FUNC Scalar | angle () const |
| EIGEN_DEVICE_FUNC Scalar & | angle () |
| template<typename NewScalarType > | |
| EIGEN_DEVICE_FUNC internal::cast_return_type< Rotation2D, Rotation2D< NewScalarType > >::type | cast () const |
| template<typename Derived > | |
| EIGEN_DEVICE_FUNC Rotation2D & | fromRotationMatrix (const MatrixBase< Derived > &m) |
| template<typename Derived > | |
| EIGEN_DEVICE_FUNC Rotation2D< Scalar > & | fromRotationMatrix (const MatrixBase< Derived > &mat) |
| EIGEN_DEVICE_FUNC Rotation2D | inverse () const |
| EIGEN_DEVICE_FUNC bool | isApprox (const Rotation2D &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const |
| EIGEN_DEVICE_FUNC Rotation2D | operator* (const Rotation2D &other) const |
| EIGEN_DEVICE_FUNC Vector2 | operator* (const Vector2 &vec) const |
| EIGEN_DEVICE_FUNC Rotation2D & | operator*= (const Rotation2D &other) |
| template<typename Derived > | |
| EIGEN_DEVICE_FUNC Rotation2D & | operator= (const MatrixBase< Derived > &m) |
| EIGEN_DEVICE_FUNC | Rotation2D (const Scalar &a) |
| EIGEN_DEVICE_FUNC | Rotation2D () |
| template<typename Derived > | |
| EIGEN_DEVICE_FUNC | Rotation2D (const MatrixBase< Derived > &m) |
| template<typename OtherScalarType > | |
| EIGEN_DEVICE_FUNC | Rotation2D (const Rotation2D< OtherScalarType > &other) |
| EIGEN_DEVICE_FUNC Rotation2D | slerp (const Scalar &t, const Rotation2D &other) const |
| EIGEN_DEVICE_FUNC Scalar | smallestAngle () const |
| EIGEN_DEVICE_FUNC Scalar | smallestPositiveAngle () const |
| EIGEN_DEVICE_FUNC Matrix2 | toRotationMatrix () const |
| Public Member Functions inherited from Eigen::RotationBase< Rotation2D< _Scalar >, 2 > | |
| EIGEN_DEVICE_FUNC VectorType | _transformVector (const OtherVectorType &v) const |
| EIGEN_DEVICE_FUNC const Rotation2D< _Scalar > & | derived () const |
| EIGEN_DEVICE_FUNC Rotation2D< _Scalar > & | derived () |
| EIGEN_DEVICE_FUNC Rotation2D< _Scalar > | inverse () const |
| EIGEN_DEVICE_FUNC RotationMatrixType | matrix () const |
| EIGEN_DEVICE_FUNC Transform< Scalar, Dim, Isometry > | operator* (const Translation< Scalar, Dim > &t) const |
| EIGEN_DEVICE_FUNC RotationMatrixType | operator* (const UniformScaling< Scalar > &s) const |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector< Rotation2D< _Scalar >, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType | operator* (const EigenBase< OtherDerived > &e) const |
| EIGEN_DEVICE_FUNC Transform< Scalar, Dim, Mode > | operator* (const Transform< Scalar, Dim, Mode, Options > &t) const |
| EIGEN_DEVICE_FUNC RotationMatrixType | toRotationMatrix () const |
Static Public Member Functions | |
| static EIGEN_DEVICE_FUNC Rotation2D | Identity () |
Protected Attributes | |
| Scalar | m_angle |
Private Types | |
| typedef RotationBase< Rotation2D< _Scalar >, 2 > | Base |
Detailed Description
template<typename _Scalar>
class Eigen::Rotation2D< _Scalar >
Represents a rotation/orientation in a 2 dimensional space.
- Template Parameters
-
_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.
- See also
- class Quaternion, class Transform
Definition at line 269 of file ForwardDeclarations.h.
Member Typedef Documentation
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private |
Definition at line 43 of file Rotation2D.h.
| typedef Matrix<Scalar,2,2> Eigen::Rotation2D< _Scalar >::Matrix2 |
Definition at line 53 of file Rotation2D.h.
| typedef _Scalar Eigen::Rotation2D< _Scalar >::Scalar |
the scalar type of the coefficients
Definition at line 51 of file Rotation2D.h.
| typedef Matrix<Scalar,2,1> Eigen::Rotation2D< _Scalar >::Vector2 |
Definition at line 52 of file Rotation2D.h.
Member Enumeration Documentation
| anonymous enum |
| Enumerator | |
|---|---|
| Dim | |
Definition at line 49 of file Rotation2D.h.
Constructor & Destructor Documentation
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inlineexplicit |
Construct a 2D counter clock wise rotation from the angle a in radian.
Definition at line 62 of file Rotation2D.h.
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inline |
Default constructor wihtout initialization. The represented rotation is undefined.
Definition at line 65 of file Rotation2D.h.
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inlineexplicit |
Construct a 2D rotation from a 2x2 rotation matrix mat.
- See also
- fromRotationMatrix()
Definition at line 72 of file Rotation2D.h.
|
inlineexplicit |
Copy constructor with scalar type conversion
Definition at line 147 of file Rotation2D.h.
Member Function Documentation
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inline |
- Returns
- the rotation angle
Definition at line 78 of file Rotation2D.h.
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inline |
- Returns
- a read-write reference to the rotation angle
Definition at line 81 of file Rotation2D.h.
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inline |
- Returns
*thiswith 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 142 of file Rotation2D.h.
| EIGEN_DEVICE_FUNC Rotation2D& Eigen::Rotation2D< _Scalar >::fromRotationMatrix | ( | const MatrixBase< Derived > & | m | ) |
| EIGEN_DEVICE_FUNC Rotation2D<Scalar>& Eigen::Rotation2D< _Scalar >::fromRotationMatrix | ( | const MatrixBase< Derived > & | mat | ) |
Set *this from a 2x2 rotation matrix mat. In other words, this function extract the rotation angle from the rotation matrix.
Definition at line 176 of file Rotation2D.h.
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inlinestatic |
Definition at line 152 of file Rotation2D.h.
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inline |
- Returns
- the inverse rotation
Definition at line 98 of file Rotation2D.h.
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inline |
- Returns
trueif*thisis approximately equal to other, within the precision determined by prec.
- See also
- MatrixBase::isApprox()
Definition at line 158 of file Rotation2D.h.
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inline |
Concatenates two rotations
Definition at line 101 of file Rotation2D.h.
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inline |
Applies the rotation to a 2D vector
Definition at line 109 of file Rotation2D.h.
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inline |
Concatenates two rotations
Definition at line 105 of file Rotation2D.h.
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inline |
Set *this from a 2x2 rotation matrix mat. In other words, this function extract the rotation angle from the rotation matrix.
This method is an alias for fromRotationMatrix()
- See also
- fromRotationMatrix()
Definition at line 124 of file Rotation2D.h.
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inline |
- Returns
- the spherical interpolation between
*thisand other using parameter t. It is in fact equivalent to a linear interpolation.
Definition at line 130 of file Rotation2D.h.
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inline |
- Returns
- the rotation angle in [-pi,pi]
Definition at line 90 of file Rotation2D.h.
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inline |
- Returns
- the rotation angle in [0,2pi]
Definition at line 84 of file Rotation2D.h.
| Rotation2D< Scalar >::Matrix2 EIGEN_DEVICE_FUNC Eigen::Rotation2D< Scalar >::toRotationMatrix | ( | void | ) | const |
Constructs and
- Returns
- an equivalent 2x2 rotation matrix.
Definition at line 188 of file Rotation2D.h.
Member Data Documentation
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protected |
Definition at line 57 of file Rotation2D.h.
The documentation for this class was generated from the following files: