Rotation2D< Scalar > Class Template Reference

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

Public Types
enum	{ Dim }
typedef Matrix< Scalar, 2, 2 >	Matrix2
typedef _Scalar	Scalar
typedef Matrix< Scalar, 2, 1 >	Vector2
Public Types inherited from RotationBase< Rotation2D< _Scalar >, 2 >
enum
typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType
typedef ei_traits< Rotation2D < _Scalar > >::Scalar	Scalar

Public Member Functions
Scalar	angle () const
Scalar &	angle ()
template<typename NewScalarType >
ei_cast_return_type < Rotation2D, Rotation2D < NewScalarType > >::type	cast () const
template<typename Derived >
Rotation2D &	fromRotationMatrix (const MatrixBase< Derived > &m)
template<typename Derived >
Rotation2D< Scalar > &	fromRotationMatrix (const MatrixBase< Derived > &mat)
Rotation2D	inverse () const
bool	isApprox (const Rotation2D &other, typename NumTraits< Scalar >::Real prec=precision< Scalar >()) const
Rotation2D	operator* (const Rotation2D &other) const
Vector2	operator* (const Vector2 &vec) const
Rotation2D &	operator*= (const Rotation2D &other)
	Rotation2D (Scalar a)
template<typename OtherScalarType >
	Rotation2D (const Rotation2D< OtherScalarType > &other)
Rotation2D	slerp (Scalar t, const Rotation2D &other) const
Matrix2	toRotationMatrix (void) const
Public Member Functions inherited from RotationBase< Rotation2D< _Scalar >, 2 >
const Rotation2D< _Scalar > &	derived () const
Rotation2D< _Scalar > &	derived ()
Rotation2D< _Scalar >	inverse () const
Transform< Scalar, Dim >	operator* (const Translation< Scalar, Dim > &t) const
RotationMatrixType	operator* (const Scaling< Scalar, Dim > &s) const
Transform< Scalar, Dim >	operator* (const Transform< Scalar, Dim > &t) const
RotationMatrixType	toRotationMatrix () const

Protected Attributes
Scalar	m_angle

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

Member Typedef Documentation

typedef _Scalar Scalar

the scalar type of the coefficients

Constructor & Destructor Documentation

Rotation2D ( Scalar  a )

inline

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

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

ei_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, typename NumTraits< Scalar >::Real  prec = precision<Scalar>()  ) const

inline

Returns

true if *this is approximately equal to other, within the precision determined by prec.

See Also

MatrixBase::isApprox()

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

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

inline

Concatenates two rotations

Rotation2D slerp ( 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.

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

• Core
• Geometry