KDL::Rotation2 Class Reference

#include <frames.hpp>

Public Member Functions
double	GetRot () const
	Gets the angle (in radians) More...
Rotation2	Inverse () const
Vector2	Inverse (const Vector2 &v) const
double	operator() (int i, int j) const
	Access to elements 0..1,0..1, bounds are checked when NDEBUG is not set. More...
Vector2	operator* (const Vector2 &v) const
Rotation2 &	operator= (const Rotation2 &arg)
	Rotation2 ()
	Default constructor does NOT initialise to Zero(). More...
	Rotation2 (double angle_rad)
	Rotation2 (double ca, double sa)
void	SetIdentity ()
void	SetInverse ()
void	SetRot (double angle)
	The SetRot.. functions set the value of *this to the appropriate rotation matrix. More...

Static Public Member Functions
static Rotation2	Identity ()
static Rotation2	Rot (double angle)
	The Rot... static functions give the value of the appropriate rotation matrix bac. More...

Private Attributes
double	c
double	s

Friends
bool	Equal (const Rotation2 &a, const Rotation2 &b, double eps)
Rotation2	operator* (const Rotation2 &lhs, const Rotation2 &rhs)

Detailed Description

A 2D Rotation class, for conventions see Rotation. For further documentation of the methods see Rotation class.

Definition at line 1050 of file frames.hpp.

Constructor & Destructor Documentation

KDL::Rotation2::Rotation2 ( )

inline

Default constructor does NOT initialise to Zero().

c,s represent cos(angle), sin(angle), this also represents first col. of rot matrix from outside, this class behaves as if it would store the complete 2x2 matrix.

Definition at line 1057 of file frames.hpp.

KDL::Rotation2::Rotation2 ( double  angle_rad )

inlineexplicit

Definition at line 1059 of file frames.hpp.

KDL::Rotation2::Rotation2 ( double  ca, double  sa  )

inline

Definition at line 1061 of file frames.hpp.

Member Function Documentation

IMETHOD double KDL::Rotation2::GetRot ( ) const

inline

Gets the angle (in radians)

Definition at line 898 of file frames.hpp.

IMETHOD Rotation2 KDL::Rotation2::Identity ( )

inlinestatic

Definition at line 880 of file frames.hpp.

IMETHOD Rotation2 KDL::Rotation2::Inverse ( ) const

inline

Definition at line 872 of file frames.hpp.

IMETHOD Vector2 KDL::Rotation2::Inverse ( const Vector2 &  v ) const

inline

Definition at line 876 of file frames.hpp.

IMETHOD double KDL::Rotation2::operator() ( int  i, int  j  ) const

inline

Access to elements 0..1,0..1, bounds are checked when NDEBUG is not set.

Definition at line 854 of file frames.hpp.

IMETHOD Vector2 KDL::Rotation2::operator* ( const Vector2 &  v ) const

inline

Definition at line 850 of file frames.hpp.

IMETHOD Rotation2 & KDL::Rotation2::operator= ( const Rotation2 &  arg )

inline

Definition at line 845 of file frames.hpp.

IMETHOD Rotation2 KDL::Rotation2::Rot ( double  angle )

inlinestatic

The Rot... static functions give the value of the appropriate rotation matrix bac.

Definition at line 894 of file frames.hpp.

IMETHOD void KDL::Rotation2::SetIdentity ( )

inline

Definition at line 884 of file frames.hpp.

IMETHOD void KDL::Rotation2::SetInverse ( )

inline

Definition at line 868 of file frames.hpp.

IMETHOD void KDL::Rotation2::SetRot ( double  angle )

inline

The SetRot.. functions set the value of *this to the appropriate rotation matrix.

Definition at line 890 of file frames.hpp.

Friends And Related Function Documentation

bool Equal ( const Rotation2 &  a, const Rotation2 &  b, double  eps = epsilon  )

friend

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Definition at line 1053 of file frames.hpp.

Rotation2 operator* ( const Rotation2 &  lhs, const Rotation2 &  rhs  )

friend

Definition at line 864 of file frames.hpp.

Member Data Documentation

double KDL::Rotation2::c

private

Definition at line 1052 of file frames.hpp.

double KDL::Rotation2::s

private

Definition at line 1052 of file frames.hpp.

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

• frames.hpp