Represents a rotation/orientation in a 2 dimensional space. More...

#include <Rotation2D.h>

Public Types
enum	{ Dim = 2 }

typedef _Scalar	Scalar

typedef Matrix< Scalar, 2, 1 >	Vector2

typedef Matrix< Scalar, 2, 2 >	Matrix2

Public Member Functions
EIGEN_DEVICE_FUNC	Rotation2D (const Scalar &a)

EIGEN_DEVICE_FUNC	Rotation2D ()

template<typename Derived >
EIGEN_DEVICE_FUNC	Rotation2D (const MatrixBase< Derived > &m)

EIGEN_DEVICE_FUNC Scalar	angle () const

EIGEN_DEVICE_FUNC Scalar &	angle ()

EIGEN_DEVICE_FUNC Scalar	smallestPositiveAngle () const

EIGEN_DEVICE_FUNC Scalar	smallestAngle () const

EIGEN_DEVICE_FUNC Rotation2D	inverse () const

EIGEN_DEVICE_FUNC Rotation2D	operator* (const Rotation2D &other) const

EIGEN_DEVICE_FUNC Rotation2D &	operator*= (const Rotation2D &other)

EIGEN_DEVICE_FUNC Vector2	operator* (const Vector2 &vec) const

template<typename Derived >
EIGEN_DEVICE_FUNC Rotation2D &	fromRotationMatrix (const MatrixBase< Derived > &m)

EIGEN_DEVICE_FUNC Matrix2	toRotationMatrix () const

template<typename Derived >
EIGEN_DEVICE_FUNC Rotation2D &	operator= (const MatrixBase< Derived > &m)

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

template<typename NewScalarType >
EIGEN_DEVICE_FUNC internal::cast_return_type< Rotation2D, Rotation2D< NewScalarType > >::type	cast () const

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

EIGEN_DEVICE_FUNC bool	isApprox (const Rotation2D &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const

template<typename Derived >
EIGEN_DEVICE_FUNC Rotation2D< Scalar > &	fromRotationMatrix (const MatrixBase< Derived > &mat)

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

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

template<typename OtherDerived >
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector< Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType	operator* (const EigenBase< OtherDerived > &e) const

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

Static Public Member Functions
static EIGEN_DEVICE_FUNC Rotation2D	Identity ()

Protected Attributes
Scalar	m_angle

Friends
template<typename OtherDerived >
EIGEN_DEVICE_FUNC RotationMatrixType	operator* (const EigenBase< OtherDerived > &l, const Derived &r)

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

Detailed Description

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

Represents a rotation/orientation in a 2 dimensional space.

\geometry_module

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

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_DEVICE_FUNC 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_DEVICE_FUNC Eigen::Rotation2D< _Scalar >::Rotation2D ( )

inline

Default constructor wihtout initialization. The represented rotation is undefined.

◆ Rotation2D() [3/4]

template<typename _Scalar >

template<typename Derived >

EIGEN_DEVICE_FUNC 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_DEVICE_FUNC Eigen::Rotation2D< _Scalar >::Rotation2D ( const Rotation2D< OtherScalarType > & other )

inlineexplicit

Copy constructor with scalar type conversion

Member Function Documentation

◆ angle() [1/2]

template<typename _Scalar >

EIGEN_DEVICE_FUNC Scalar& Eigen::Rotation2D< _Scalar >::angle ( )

inline

Returns: a read-write reference to the rotation angle

◆ angle() [2/2]

template<typename _Scalar >

EIGEN_DEVICE_FUNC Scalar Eigen::Rotation2D< _Scalar >::angle ( ) const

inline

Returns: the rotation angle

◆ cast()

template<typename _Scalar >

template<typename NewScalarType >

EIGEN_DEVICE_FUNC 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 >

EIGEN_DEVICE_FUNC 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 >

EIGEN_DEVICE_FUNC Rotation2D Eigen::Rotation2D< _Scalar >::inverse ( ) const

inline

Returns: the inverse rotation

◆ isApprox()

template<typename _Scalar >

EIGEN_DEVICE_FUNC 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*() [1/6]

template<typename _Scalar >

template<typename OtherDerived >

EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType Eigen::RotationBase< Derived, _Dim >::operator* ( typename OtherDerived )

inline

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

◆ operator*() [2/6]

template<typename _Scalar >

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

inline

Concatenates two rotations

◆ operator*() [3/6]

template<typename _Scalar >

template<int Mode, int Options>

EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode> Eigen::RotationBase< Derived, _Dim >::operator*	(	int	Mode,
		int	Options
	)

inline

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

◆ operator*() [4/6]

template<typename _Scalar >

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

inline

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

◆ operator*() [5/6]

template<typename _Scalar >

EIGEN_DEVICE_FUNC RotationMatrixType Eigen::RotationBase< Derived, _Dim >::operator*

inline

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

◆ operator*() [6/6]

template<typename _Scalar >

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

inline

Applies the rotation to a 2D vector

◆ operator*=()

template<typename _Scalar >

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

inline

Concatenates two rotations

◆ operator=()

template<typename _Scalar >

template<typename Derived >

EIGEN_DEVICE_FUNC 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 >

EIGEN_DEVICE_FUNC 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 >

EIGEN_DEVICE_FUNC Scalar Eigen::Rotation2D< _Scalar >::smallestAngle ( ) const

inline

Returns: the rotation angle in [-pi,pi]

◆ smallestPositiveAngle()

template<typename _Scalar >

EIGEN_DEVICE_FUNC Scalar Eigen::Rotation2D< _Scalar >::smallestPositiveAngle ( ) const

inline

Returns: the rotation angle in [0,2pi]

◆ toRotationMatrix()

template<typename Scalar >

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

Constructs and

Returns: an equivalent 2x2 rotation matrix.

Friends And Related Function Documentation

◆ operator* [1/2]

template<typename _Scalar >

EIGEN_DEVICE_FUNC friend Transform<Scalar,Dim,Affine> operator*

friend

Returns: the concatenation of a scaling l with the rotation r

◆ operator* [2/2]

template<typename _Scalar >

template<typename OtherDerived >

EIGEN_DEVICE_FUNC RotationMatrixType operator* ( typename OtherDerived )

friend

Returns: the concatenation of a linear transformation l with the rotation r

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Friends

Detailed Description

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

Member Typedef Documentation

◆ Scalar

Constructor & Destructor Documentation

◆ Rotation2D() [1/4]

◆ Rotation2D() [2/4]

◆ Rotation2D() [3/4]

◆ Rotation2D() [4/4]

Member Function Documentation

◆ angle() [1/2]

◆ angle() [2/2]

◆ cast()

◆ fromRotationMatrix()

◆ inverse()

◆ isApprox()

◆ operator*() [1/6]

◆ operator*() [2/6]

◆ operator*() [3/6]

◆ operator*() [4/6]

◆ operator*() [5/6]

◆ operator*() [6/6]

◆ operator*=()

◆ operator=()

◆ slerp()

◆ smallestAngle()

◆ smallestPositiveAngle()

◆ toRotationMatrix()

Friends And Related Function Documentation

◆ operator* [1/2]

◆ operator* [2/2]

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