Eigen::Rotation2D Class Reference

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 Member Functions
EIGEN_DEVICE_FUNC Scalar &	angle ()
EIGEN_DEVICE_FUNC Scalar	angle () const
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
template<typename OtherDerived >
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector< Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType	operator* (const EigenBase< OtherDerived > &e) const
EIGEN_DEVICE_FUNC Rotation2D	operator* (const Rotation2D &other) const
template<int Mode, int Options>
EIGEN_DEVICE_FUNC Transform< Scalar, Dim, Mode >	operator* (const Transform< Scalar, Dim, Mode, Options > &t) 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 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 ()
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 (const Scalar &a)
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

Static Public Member Functions
static EIGEN_DEVICE_FUNC Rotation2D	Identity ()

Protected Attributes
Scalar	m_angle

Private Types
typedef RotationBase< Rotation2D< _Scalar >, 2 >	Base

Friends
EIGEN_DEVICE_FUNC friend Transform< Scalar, Dim, Affine >	operator* (const DiagonalMatrix< Scalar, Dim > &l, const Derived &r)
template<typename OtherDerived >
EIGEN_DEVICE_FUNC RotationMatrixType	operator* (const EigenBase< OtherDerived > &l, const Derived &r)

Detailed Description

Represents a rotation/orientation in a 2 dimensional space.

\geometry_module

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

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

private

Definition at line 43 of file Rotation2D.h.

Matrix2

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

Definition at line 53 of file Rotation2D.h.

Scalar

typedef _Scalar Eigen::Rotation2D::Scalar

the scalar type of the coefficients

Definition at line 51 of file Rotation2D.h.

Vector2

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

Definition at line 52 of file Rotation2D.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
Dim

Definition at line 49 of file Rotation2D.h.

Constructor & Destructor Documentation

Rotation2D() [1/4]

EIGEN_DEVICE_FUNC Eigen::Rotation2D::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]

EIGEN_DEVICE_FUNC Eigen::Rotation2D::Rotation2D ( )

inline

Default constructor wihtout initialization. The represented rotation is undefined.

Definition at line 65 of file Rotation2D.h.

Rotation2D() [3/4]

template<typename Derived >

EIGEN_DEVICE_FUNC Eigen::Rotation2D::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 OtherScalarType >

EIGEN_DEVICE_FUNC Eigen::Rotation2D::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]

EIGEN_DEVICE_FUNC Scalar& Eigen::Rotation2D::angle ( )

inline

Returns

a read-write reference to the rotation angle

Definition at line 81 of file Rotation2D.h.

angle() [2/2]

EIGEN_DEVICE_FUNC Scalar Eigen::Rotation2D::angle ( ) const

inline

Returns

the rotation angle

Definition at line 78 of file Rotation2D.h.

cast()

template<typename NewScalarType >

EIGEN_DEVICE_FUNC internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type Eigen::Rotation2D::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 Derived >

EIGEN_DEVICE_FUNC Rotation2D& Eigen::Rotation2D::fromRotationMatrix

(

const MatrixBase< Derived > &

m

)

fromRotationMatrix() [2/2]

template<typename Derived >

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

static EIGEN_DEVICE_FUNC Rotation2D Eigen::Rotation2D::Identity ( )

inlinestatic

Definition at line 152 of file Rotation2D.h.

inverse()

EIGEN_DEVICE_FUNC Rotation2D Eigen::Rotation2D::inverse ( ) const

inline

Returns

the inverse rotation

Definition at line 98 of file Rotation2D.h.

isApprox()

EIGEN_DEVICE_FUNC bool Eigen::Rotation2D::isApprox ( const Rotation2D &  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*() [1/6]

template<typename OtherDerived >

EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType Eigen::RotationBase::operator* ( typename OtherDerived  )

inline

Returns

the concatenation of the rotation *this with a generic expression e e can be:

• a DimxDim linear transformation matrix
• a DimxDim diagonal matrix (axis aligned scaling)
• a vector of size Dim

Definition at line 71 of file RotationBase.h.

operator*() [2/6]

EIGEN_DEVICE_FUNC Rotation2D Eigen::Rotation2D::operator* ( const Rotation2D &  other ) const

inline

Concatenates two rotations

Definition at line 101 of file Rotation2D.h.

operator*() [3/6]

template<int Mode, int Options>

EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode> Eigen::RotationBase::operator* ( int  Mode, int  Options  )

inline

Returns

the concatenation of the rotation *this with a transformation t

Definition at line 89 of file RotationBase.h.

operator*() [4/6]

EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Isometry> Eigen::RotationBase::operator*

inline

Returns

the concatenation of the rotation *this with a translation t

Definition at line 56 of file RotationBase.h.

operator*() [5/6]

EIGEN_DEVICE_FUNC RotationMatrixType Eigen::RotationBase::operator*

inline

Returns

the concatenation of the rotation *this with a uniform scaling s

Definition at line 60 of file RotationBase.h.

operator*() [6/6]

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

inline

Applies the rotation to a 2D vector

Definition at line 109 of file Rotation2D.h.

operator*=()

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

inline

Concatenates two rotations

Definition at line 105 of file Rotation2D.h.

operator=()

template<typename Derived >

EIGEN_DEVICE_FUNC Rotation2D& Eigen::Rotation2D::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()

EIGEN_DEVICE_FUNC Rotation2D Eigen::Rotation2D::slerp ( const Scalar &  t, const Rotation2D &  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()

EIGEN_DEVICE_FUNC Scalar Eigen::Rotation2D::smallestAngle ( ) const

inline

Returns

the rotation angle in [-pi,pi]

Definition at line 90 of file Rotation2D.h.

smallestPositiveAngle()

EIGEN_DEVICE_FUNC Scalar Eigen::Rotation2D::smallestPositiveAngle ( ) const

inline

Returns

the rotation angle in [0,2pi]

Definition at line 84 of file Rotation2D.h.

toRotationMatrix()

Rotation2D< Scalar >::Matrix2 EIGEN_DEVICE_FUNC Eigen::Rotation2D::toRotationMatrix

(

)

const

Constructs and

Returns

an equivalent 2x2 rotation matrix.

Definition at line 188 of file Rotation2D.h.

Friends And Related Function Documentation

operator* [1/2]

EIGEN_DEVICE_FUNC friend Transform<Scalar,Dim,Affine> operator*

friend

Returns

the concatenation of a scaling l with the rotation r

Definition at line 80 of file RotationBase.h.

operator* [2/2]

template<typename OtherDerived >

EIGEN_DEVICE_FUNC RotationMatrixType operator* ( typename OtherDerived  )

friend

Returns

the concatenation of a linear transformation l with the rotation r

Definition at line 76 of file RotationBase.h.

Member Data Documentation

m_angle

Scalar Eigen::Rotation2D::m_angle

protected

Definition at line 57 of file Rotation2D.h.

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

• ForwardDeclarations.h
• Rotation2D.h