Program Listing for File rotation.hpp

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#ifndef TF2_2D__ROTATION_HPP_
#define TF2_2D__ROTATION_HPP_

#include <tf2/LinearMath/Scalar.h>
#include <Eigen/Core>

#include <tf2_2d/vector2.hpp>


namespace tf2_2d
{

class Rotation
{
public:
  Rotation();

  explicit Rotation(const tf2Scalar angle);

  Rotation operator-() const;

  Rotation & operator+=(const Rotation & rhs);

  Rotation & operator-=(const Rotation & rhs);

  Rotation & operator*=(const tf2Scalar rhs);

  Rotation & operator/=(const tf2Scalar rhs);

  bool operator==(const Rotation & other) const;

  bool operator!=(const Rotation & other) const;

  tf2Scalar distance2(const Rotation & other) const;

  tf2Scalar distance(const Rotation & other) const;

  Vector2 rotate(const Vector2 & vec) const;

  Vector2 unrotate(const Vector2 & vec) const;

  Rotation inverse() const;

  Rotation absolute() const;

  Rotation lerp(const Rotation & other, const tf2Scalar ratio) const;

  const tf2Scalar & getAngle() const;
  const tf2Scalar & angle() const {return getAngle();}

  void setAngle(const tf2Scalar angle);

  void setMax(const Rotation & other);

  void setMin(const Rotation & other);

  void setValue(const tf2Scalar angle);

  void setZero();

  bool isZero() const;

  bool fuzzyZero() const;

  Eigen::Matrix2d getRotationMatrix() const;

  Eigen::Matrix3d getHomogeneousMatrix() const;

private:
  tf2Scalar angle_;
  mutable tf2Scalar cos_angle_;
  mutable tf2Scalar sin_angle_;

  Rotation(const tf2Scalar angle, tf2Scalar cos_angle, tf2Scalar sin_angle);

  Rotation & wrap();

  void populateTrigCache() const;
};

Rotation operator+(Rotation lhs, const Rotation & rhs);

Rotation operator-(Rotation lhs, const Rotation & rhs);

Rotation operator*(Rotation lhs, const tf2Scalar rhs);

Rotation operator*(const tf2Scalar lhs, Rotation rhs);

Rotation operator/(Rotation lhs, const tf2Scalar rhs);

Vector2 operator*(const Rotation & lhs, const Vector2 & rhs);

std::ostream & operator<<(std::ostream & stream, const Rotation & rotation);

}  // namespace tf2_2d

#include <tf2_2d/rotation_impl.hpp>

#endif  // TF2_2D__ROTATION_HPP_