Represents a rotation/orientation in a 2 dimensional space. More...

#include <ForwardDeclarations.h>

Inheritance diagram for Eigen::Rotation2D< _Scalar >:

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 289 of file ForwardDeclarations.h.

Member Typedef Documentation

◆ Base

template<typename _Scalar>

typedef RotationBase<Rotation2D<_Scalar>,2> Eigen::Rotation2D< _Scalar >::Base

private

Definition at line 43 of file Rotation2D.h.

◆ Matrix2

template<typename _Scalar>

typedef Matrix<Scalar,2,2> Eigen::Rotation2D< _Scalar >::Matrix2

Definition at line 53 of file Rotation2D.h.

◆ Scalar

template<typename _Scalar>

typedef _Scalar Eigen::Rotation2D< _Scalar >::Scalar

the scalar type of the coefficients

Definition at line 51 of file Rotation2D.h.

◆ Vector2

template<typename _Scalar>

typedef Matrix<Scalar,2,1> Eigen::Rotation2D< _Scalar >::Vector2

Definition at line 52 of file Rotation2D.h.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar>

anonymous enum

Enumerator
Dim

Definition at line 49 of file Rotation2D.h.

Constructor & Destructor Documentation

◆ Rotation2D() [1/4]

template<typename _Scalar>

EIGEN_DEVICE_FUNC Eigen::Rotation2D< _Scalar >::Rotation2D ( const Scalar & a )

inlineexplicit

Construct a 2D counter clock wise rotation from the angle a in radian.

Definition at line 62 of file Rotation2D.h.

◆ Rotation2D() [2/4]

template<typename _Scalar>

EIGEN_DEVICE_FUNC Eigen::Rotation2D< _Scalar >::Rotation2D ( )

inline

Default constructor wihtout initialization. The represented rotation is undefined.

Definition at line 65 of file Rotation2D.h.

◆ Rotation2D() [3/4]

template<typename _Scalar>

template<typename Derived >

EIGEN_DEVICE_FUNC Eigen::Rotation2D< _Scalar >::Rotation2D ( const MatrixBase< Derived > & m )

inlineexplicit

Construct a 2D rotation from a 2x2 rotation matrix mat.

See also: fromRotationMatrix()

Definition at line 72 of file Rotation2D.h.

◆ Rotation2D() [4/4]

template<typename _Scalar>

template<typename OtherScalarType >

EIGEN_DEVICE_FUNC Eigen::Rotation2D< _Scalar >::Rotation2D ( const Rotation2D< OtherScalarType > & other )

inlineexplicit

Copy constructor with scalar type conversion

Definition at line 147 of file Rotation2D.h.

Member Function Documentation

◆ angle() [1/2]

template<typename _Scalar>

EIGEN_DEVICE_FUNC Scalar Eigen::Rotation2D< _Scalar >::angle ( ) const

inline

Returns: the rotation angle

Definition at line 78 of file Rotation2D.h.

◆ angle() [2/2]

template<typename _Scalar>

EIGEN_DEVICE_FUNC Scalar& Eigen::Rotation2D< _Scalar >::angle ( )

inline

Returns: a read-write reference to the rotation angle

Definition at line 81 of file Rotation2D.h.

◆ cast()

template<typename _Scalar>

template<typename NewScalarType >

EIGEN_DEVICE_FUNC internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type Eigen::Rotation2D< _Scalar >::cast ( ) const

inline

Returns: *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 142 of file Rotation2D.h.

◆ fromRotationMatrix() [1/2]

template<typename _Scalar>

template<typename Derived >

EIGEN_DEVICE_FUNC Rotation2D& Eigen::Rotation2D< _Scalar >::fromRotationMatrix ( const MatrixBase< Derived > & m )

◆ fromRotationMatrix() [2/2]

template<typename _Scalar>

template<typename Derived >

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.

◆ Identity()

template<typename _Scalar>

static EIGEN_DEVICE_FUNC Rotation2D Eigen::Rotation2D< _Scalar >::Identity ( )

inlinestatic

Definition at line 152 of file Rotation2D.h.

◆ inverse()

template<typename _Scalar>

EIGEN_DEVICE_FUNC Rotation2D Eigen::Rotation2D< _Scalar >::inverse ( ) const

inline

Returns: the inverse rotation

Definition at line 98 of file Rotation2D.h.

◆ isApprox()

template<typename _Scalar>

EIGEN_DEVICE_FUNC bool Eigen::Rotation2D< _Scalar >::isApprox	(	const Rotation2D< _Scalar > &	other,
		const typename NumTraits< Scalar >::Real &	prec = `NumTraits<Scalar>::dummy_precision()`
	)		const

inline

Returns: true if *this is approximately equal to other, within the precision determined by prec.

See also: MatrixBase::isApprox()

Definition at line 158 of file Rotation2D.h.

◆ operator*() [1/2]

template<typename _Scalar>

EIGEN_DEVICE_FUNC Rotation2D Eigen::Rotation2D< _Scalar >::operator* ( const Rotation2D< _Scalar > & other ) const

inline

Concatenates two rotations

Definition at line 101 of file Rotation2D.h.

◆ operator*() [2/2]

template<typename _Scalar>

EIGEN_DEVICE_FUNC Vector2 Eigen::Rotation2D< _Scalar >::operator* ( const Vector2 & vec ) const

inline

Applies the rotation to a 2D vector

Definition at line 109 of file Rotation2D.h.

◆ operator*=()

template<typename _Scalar>

EIGEN_DEVICE_FUNC Rotation2D& Eigen::Rotation2D< _Scalar >::operator*= ( const Rotation2D< _Scalar > & other )

inline

Concatenates two rotations

Definition at line 105 of file Rotation2D.h.

◆ operator=()

template<typename _Scalar>

template<typename Derived >

EIGEN_DEVICE_FUNC Rotation2D& Eigen::Rotation2D< _Scalar >::operator= ( const MatrixBase< Derived > & m )

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.

◆ slerp()

template<typename _Scalar>

EIGEN_DEVICE_FUNC Rotation2D Eigen::Rotation2D< _Scalar >::slerp	(	const Scalar &	t,
		const Rotation2D< _Scalar > &	other
	)		const

inline

Returns: the spherical interpolation between *this and other using parameter t. It is in fact equivalent to a linear interpolation.

Definition at line 130 of file Rotation2D.h.

◆ smallestAngle()

template<typename _Scalar>

EIGEN_DEVICE_FUNC Scalar Eigen::Rotation2D< _Scalar >::smallestAngle ( ) const

inline

Returns: the rotation angle in [-pi,pi]

Definition at line 90 of file Rotation2D.h.

◆ smallestPositiveAngle()

template<typename _Scalar>

EIGEN_DEVICE_FUNC Scalar Eigen::Rotation2D< _Scalar >::smallestPositiveAngle ( ) const

inline

Returns: the rotation angle in [0,2pi]

Definition at line 84 of file Rotation2D.h.

◆ toRotationMatrix()

template<typename Scalar >

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

◆ m_angle

template<typename _Scalar>

Scalar Eigen::Rotation2D< _Scalar >::m_angle

protected

Definition at line 57 of file Rotation2D.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Types

Detailed Description

template<typename _Scalar> class Eigen::Rotation2D< _Scalar >

Member Typedef Documentation

◆ Base

◆ Matrix2

◆ Scalar

◆ Vector2

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ Rotation2D() [1/4]

◆ Rotation2D() [2/4]

◆ Rotation2D() [3/4]

◆ Rotation2D() [4/4]

Member Function Documentation

◆ angle() [1/2]

◆ angle() [2/2]

◆ cast()

◆ fromRotationMatrix() [1/2]

◆ fromRotationMatrix() [2/2]

◆ Identity()

◆ inverse()

◆ isApprox()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=()

◆ operator=()

◆ slerp()

◆ smallestAngle()

◆ smallestPositiveAngle()

◆ toRotationMatrix()

Member Data Documentation

◆ m_angle

template<typename _Scalar>
class Eigen::Rotation2D< _Scalar >