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>

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 Rotation2D< Scalar >:

Public Types
typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType

typedef _Scalar	Scalar

Public Member Functions
Scalar	angle () const

Scalar &	angle ()

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

RotationMatrixType	matrix () const

Transform< Scalar, Dim, Isometry >	operator* (const Translation< Scalar, Dim > &t) const

RotationMatrixType	operator* (const UniformScaling< Scalar > &s) const

internal::rotation_base_generic_product_selector < Rotation2D< _Scalar > , OtherDerived, OtherDerived::IsVectorAtCompileTime > ::ReturnType	operator* (const EigenBase< OtherDerived > &e) const

Rotation2D	operator* (const Rotation2D &other) const

Vector2	operator* (const Vector2 &vec) const

Transform< Scalar, Dim, Mode >	operator* (const Transform< Scalar, Dim, Mode, Options > &t) const

Rotation2D &	operator*= (const Rotation2D &other)

	Rotation2D (const Scalar &a)

	Rotation2D ()

template<typename OtherScalarType >
	Rotation2D (const Rotation2D< OtherScalarType > &other)

Rotation2D	slerp (const Scalar &t, const Rotation2D &other) const

Matrix2	toRotationMatrix () const

Member Typedef Documentation

typedef Matrix<Scalar,Dim,Dim> RotationMatrixType

inherited

corresponding linear transformation matrix type

typedef _Scalar Scalar

the scalar type of the coefficients

Constructor & Destructor Documentation

Rotation2D ( const Scalar & a )

inline

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

Rotation2D ( )

inline

Default constructor wihtout initialization. The represented rotation is undefined.

Rotation2D ( const Rotation2D< OtherScalarType > & other )

inlineexplicit

Copy constructor with scalar type conversion

Member Function Documentation

Scalar angle ( ) const

inline

Returns: the rotation angle

Scalar& angle ( )

inline

Returns: a read-write reference to the rotation angle

internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type 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.

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.

Rotation2D inverse ( ) const

inline

Returns: the inverse rotation

bool 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()

RotationMatrixType matrix ( ) const

inlineinherited

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

Transform<Scalar,Dim,Isometry> operator* ( const Translation< Scalar, Dim > & t ) const

inlineinherited

Returns: the concatenation of the rotation *this with a translation t

RotationMatrixType operator* ( const UniformScaling< Scalar > & s ) const

inlineinherited

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

internal::rotation_base_generic_product_selector<Rotation2D< _Scalar > ,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType operator* ( const EigenBase< OtherDerived > & e ) const

inlineinherited

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

Rotation2D operator* ( const Rotation2D< Scalar > & other ) const

inline

Concatenates two rotations

Vector2 operator* ( const Vector2 & vec ) const

inline

Applies the rotation to a 2D vector

References Rotation2D< Scalar >::toRotationMatrix().

Transform<Scalar,Dim,Mode> operator* ( const Transform< Scalar, Dim, Mode, Options > & t ) const

inlineinherited

Returns: the concatenation of the rotation *this with a transformation t

Rotation2D& operator*= ( const Rotation2D< Scalar > & other )

inline

Concatenates two rotations

Rotation2D 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.

Rotation2D< Scalar >::Matrix2 toRotationMatrix ( void ) const

Constructs and

Returns: an equivalent 2x2 rotation matrix.

Referenced by Rotation2D< Scalar >::operator*().

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

Detailed Description

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

Public Types

Public Member Functions

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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