Eigen::Rotation2D< Scalar_ > Class Template Reference

Detailed Description

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

Represents a rotation/orientation in a 2 dimensional space.

This is defined in the Geometry module.

#include <Eigen/Geometry> 

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

Inheritance diagram for Eigen::Rotation2D< Scalar_ >:

Public Types
typedef Scalar_	Scalar
Public Types inherited from Eigen::RotationBase< Rotation2D< Scalar_ >, 2 >
typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType
typedef internal::traits< Rotation2D< Scalar_ > >::Scalar	Scalar

Public Member Functions
Scalar &	angle ()
Scalar	angle () const
template<typename NewScalarType >
internal::cast_return_type< Rotation2D, Rotation2D< NewScalarType > >::type	cast () const
template<typename Derived >
Rotation2D< Scalar > &	fromRotationMatrix (const MatrixBase< Derived > &mat)
Rotation2D	inverse () const
bool	isApprox (const Rotation2D &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const
Rotation2D	operator* (const Rotation2D &other) const
Vector2	operator* (const Vector2 &vec) const
Rotation2D &	operator*= (const Rotation2D &other)
template<typename Derived >
Rotation2D &	operator= (const MatrixBase< Derived > &m)
	Rotation2D ()
template<typename Derived >
	Rotation2D (const MatrixBase< Derived > &m)
template<typename OtherScalarType >
	Rotation2D (const Rotation2D< OtherScalarType > &other)
	Rotation2D (const Scalar &a)
Rotation2D	slerp (const Scalar &t, const Rotation2D &other) const
Scalar	smallestAngle () const
Scalar	smallestPositiveAngle () const
Matrix2	toRotationMatrix () const
Public Member Functions inherited from Eigen::RotationBase< Rotation2D< Scalar_ >, 2 >
Rotation2D< Scalar_ >	inverse () const
RotationMatrixType	matrix () const
internal::rotation_base_generic_product_selector< Rotation2D< Scalar_ >, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType	operator* (const EigenBase< OtherDerived > &e) const
Transform< Scalar, Dim, Mode >	operator* (const Transform< Scalar, Dim, Mode, Options > &t) const
Transform< Scalar, Dim, Isometry >	operator* (const Translation< Scalar, Dim > &t) const
RotationMatrixType	operator* (const UniformScaling< Scalar > &s) const
RotationMatrixType	toRotationMatrix () const

Member Typedef Documentation

Scalar

template<typename Scalar_ >

typedef Scalar_ Eigen::Rotation2D< Scalar_ >::Scalar

the scalar type of the coefficients

Constructor & Destructor Documentation

Rotation2D() [1/4]

template<typename Scalar_ >

Eigen::Rotation2D< Scalar_ >::Rotation2D ( const Scalar & a )

inlineexplicit

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

Rotation2D() [2/4]

template<typename Scalar_ >

Eigen::Rotation2D< Scalar_ >::Rotation2D ( )

inline

Default constructor wihtout initialization. The represented rotation is undefined.

Rotation2D() [3/4]

template<typename Scalar_ >

template<typename Derived >

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

inlineexplicit

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

See also

fromRotationMatrix()

Rotation2D() [4/4]

template<typename Scalar_ >

template<typename OtherScalarType >

Eigen::Rotation2D< Scalar_ >::Rotation2D ( const Rotation2D< OtherScalarType > & other )

inlineexplicit

Copy constructor with scalar type conversion

Member Function Documentation

angle() [1/2]

template<typename Scalar_ >

Scalar & Eigen::Rotation2D< Scalar_ >::angle ( )

inline

Returns

a read-write reference to the rotation angle

angle() [2/2]

template<typename Scalar_ >

Scalar Eigen::Rotation2D< Scalar_ >::angle ( ) const

inline

Returns

the rotation angle

cast()

template<typename Scalar_ >

template<typename NewScalarType >

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.

fromRotationMatrix()

template<typename Scalar_ >

template<typename Derived >

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.

inverse()

template<typename Scalar_ >

Rotation2D Eigen::Rotation2D< Scalar_ >::inverse ( ) const

inline

Returns

the inverse rotation

isApprox()

template<typename Scalar_ >

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()

operator*() [1/2]

template<typename Scalar_ >

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

inline

Concatenates two rotations

operator*() [2/2]

template<typename Scalar_ >

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

inline

Applies the rotation to a 2D vector

operator*=()

template<typename Scalar_ >

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

inline

Concatenates two rotations

operator=()

template<typename Scalar_ >

template<typename Derived >

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()

slerp()

template<typename Scalar_ >

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.

smallestAngle()

template<typename Scalar_ >

Scalar Eigen::Rotation2D< Scalar_ >::smallestAngle ( ) const

inline

Returns

the rotation angle in [-pi,pi]

smallestPositiveAngle()

template<typename Scalar_ >

Scalar Eigen::Rotation2D< Scalar_ >::smallestPositiveAngle ( ) const

inline

Returns

the rotation angle in [0,2pi]

toRotationMatrix()

template<typename Scalar >

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

(

void

)

const

Constructs and

Returns

an equivalent 2x2 rotation matrix.

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

• Rotation2D.h