.. _program_listing_file__tmp_ws_src_tf2_2d_include_tf2_2d_rotation.hpp:

Program Listing for File rotation.hpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_tf2_2d_include_tf2_2d_rotation.hpp>` (``/tmp/ws/src/tf2_2d/include/tf2_2d/rotation.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
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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_