Eigen::Rotation2D Class Reference

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Detailed Description

Represents a rotation/orientation in a 2 dimensional space.

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:

List of all members.

Public Types
enum	{ Dim = 2 }
typedef _Scalar	Scalar
	the scalar type of the coefficients
typedef Matrix< Scalar, 2, 1 >	Vector2
typedef Matrix< Scalar, 2, 2 >	Matrix2
enum
typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType
	corresponding linear transformation matrix type
typedef Matrix< Scalar, Dim, 1 >	VectorType
Public Member Functions
	Rotation2D (Scalar a)
	Construct a 2D counter clock wise rotation from the angle a in radian.
Scalar	angle () const
Scalar &	angle ()
Rotation2D	inverse () const
Rotation2D	operator* (const Rotation2D &other) const
	Concatenates two rotations.
Rotation2D &	operator*= (const Rotation2D &other)
	Concatenates two rotations.
Vector2	operator* (const Vector2 &vec) const
	Applies the rotation to a 2D vector.
template<typename Derived >
Rotation2D &	fromRotationMatrix (const MatrixBase< Derived > &m)
	Set *this from a 2x2 rotation matrix mat.
Matrix2	toRotationMatrix (void) const
	Constructs and.
Rotation2D	slerp (Scalar t, const Rotation2D &other) const
template<typename NewScalarType >
internal::cast_return_type < Rotation2D, Rotation2D < NewScalarType > >::type	cast () const
template<typename OtherScalarType >
	Rotation2D (const Rotation2D< OtherScalarType > &other)
	Copy constructor with scalar type conversion.
bool	isApprox (const Rotation2D &other, typename NumTraits< Scalar >::Real prec=NumTraits< Scalar >::dummy_precision()) const
const Derived &	derived () const
Derived &	derived ()
RotationMatrixType	matrix () const
Transform< Scalar, Dim, Isometry >	operator* (const Translation< Scalar, Dim > &t) const
RotationMatrixType	operator* (const UniformScaling< Scalar > &s) const
EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector < Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime > ::ReturnType	operator* (const EigenBase< OtherDerived > &e) const
Transform< Scalar, Dim, Mode >	operator* (const Transform< Scalar, Dim, Mode, Options > &t) const
VectorType	_transformVector (const OtherVectorType &v) const
Static Public Member Functions
static Rotation2D	Identity ()
Protected Attributes
Scalar	m_angle
Private Types
typedef RotationBase < Rotation2D< _Scalar >, 2 >	Base
Friends
RotationMatrixType	operator* (const EigenBase< OtherDerived > &l, const Derived &r)
Transform< Scalar, Dim, Affine >	operator* (const DiagonalMatrix< Scalar, Dim > &l, const Derived &r)

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Member Typedef Documentation

typedef RotationBase<Rotation2D<_Scalar>,2> Eigen::Rotation2D::Base [private]

Definition at line 57 of file Geometry.

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

Definition at line 67 of file Geometry.

typedef Matrix<Scalar,Dim,Dim> Eigen::RotationBase::RotationMatrixType [inherited]

corresponding linear transformation matrix type

Definition at line 51 of file Geometry.

typedef _Scalar Eigen::Rotation2D::Scalar

the scalar type of the coefficients

Reimplemented from Eigen::RotationBase< Rotation2D< _Scalar >, 2 >.

Definition at line 65 of file Geometry.

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

Definition at line 66 of file Geometry.

typedef Matrix<Scalar,Dim,1> Eigen::RotationBase::VectorType [inherited]

Definition at line 52 of file Geometry.

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Member Enumeration Documentation

anonymous enum [inherited]

Definition at line 46 of file Geometry.

anonymous enum

Enumerator:

Dim

Definition at line 63 of file Geometry.

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Constructor & Destructor Documentation

Eigen::Rotation2D::Rotation2D

(

Scalar

a

)

[inline]

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

Definition at line 76 of file Geometry.

template<typename OtherScalarType >

Eigen::Rotation2D::Rotation2D

(

const Rotation2D< OtherScalarType > &

other

)

[inline, explicit]

Copy constructor with scalar type conversion.

Definition at line 120 of file Geometry.

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Member Function Documentation

VectorType Eigen::RotationBase::_transformVector

(

const OtherVectorType &

v

)

const [inline, inherited]

Definition at line 107 of file Geometry.

Scalar Eigen::Rotation2D::angle

(

)

const [inline]

Returns:

the rotation angle

Definition at line 79 of file Geometry.

Scalar& Eigen::Rotation2D::angle

(

)

[inline]

Returns:

a read-write reference to the rotation angle

Definition at line 82 of file Geometry.

template<typename NewScalarType >

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 115 of file Geometry.

const Derived& Eigen::RotationBase::derived

(

)

const [inline, inherited]

Definition at line 55 of file Geometry.

Derived& Eigen::RotationBase::derived

(

)

[inline, inherited]

Definition at line 56 of file Geometry.

template<typename Derived >

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 148 of file Geometry.

static Rotation2D Eigen::Rotation2D::Identity

(

)

[inline, static]

Definition at line 125 of file Geometry.

Rotation2D Eigen::Rotation2D::inverse

(

)

const [inline]

Returns:

the inverse rotation

Reimplemented from Eigen::RotationBase< Rotation2D< _Scalar >, 2 >.

Definition at line 85 of file Geometry.

bool Eigen::Rotation2D::isApprox	(	const Rotation2D &	other,
		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 131 of file Geometry.

RotationMatrixType Eigen::RotationBase::matrix

(

)

const [inline, inherited]

Returns:

an equivalent rotation matrix This function is added to be conform with the Transform class' naming scheme.

Definition at line 64 of file Geometry.

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

(

const Translation< Scalar, Dim > &

t

)

const [inline, inherited]

Returns:

the concatenation of the rotation *this with a translation t

Definition at line 70 of file Geometry.

RotationMatrixType Eigen::RotationBase::operator*

(

const UniformScaling< Scalar > &

s

)

const [inline, inherited]

Returns:

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

Definition at line 74 of file Geometry.

EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType Eigen::RotationBase::operator*

(

const EigenBase< OtherDerived > &

e

)

const [inline, inherited]

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 85 of file Geometry.

Rotation2D Eigen::Rotation2D::operator*

(

const Rotation2D &

other

)

const [inline]

Concatenates two rotations.

Definition at line 88 of file Geometry.

Vector2 Eigen::Rotation2D::operator*

(

const Vector2 &

vec

)

const [inline]

Applies the rotation to a 2D vector.

Definition at line 96 of file Geometry.

Transform<Scalar,Dim,Mode> Eigen::RotationBase::operator*

(

const Transform< Scalar, Dim, Mode, Options > &

t

)

const [inline, inherited]

Returns:

the concatenation of the rotation *this with a transformation t

Definition at line 103 of file Geometry.

Rotation2D& Eigen::Rotation2D::operator*=

(

const Rotation2D &

other

)

[inline]

Concatenates two rotations.

Definition at line 92 of file Geometry.

Rotation2D Eigen::Rotation2D::slerp	(	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 106 of file Geometry.

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

(

void

)

const

Constructs and.

Returns:

an equivalent 2x2 rotation matrix.

Reimplemented from Eigen::RotationBase< Rotation2D< _Scalar >, 2 >.

Definition at line 159 of file Geometry.

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Friends And Related Function Documentation

RotationMatrixType operator*	(	const EigenBase< OtherDerived > &	l,
		const Derived &	r
	)		[friend, inherited]

Returns:

the concatenation of a linear transformation l with the rotation r

Definition at line 90 of file Geometry.

Transform<Scalar,Dim,Affine> operator*	(	const DiagonalMatrix< Scalar, Dim > &	l,
		const Derived &	r
	)		[friend, inherited]

Returns:

the concatenation of a scaling l with the rotation r

Definition at line 94 of file Geometry.

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Member Data Documentation

Scalar Eigen::Rotation2D::m_angle [protected]

Definition at line 71 of file Geometry.