Public Types | Public Member Functions | List of all members
Rotation2D< _Scalar > Class Template Reference
Geometry_Module

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

#include <Rotation2D.h>

+ Inheritance diagram for Rotation2D< _Scalar >:

Public Types

typedef Matrix< Scalar, Dim, Dim > RotationMatrixType
 
typedef Matrix< Scalar, Dim, Dim > RotationMatrixType
 
typedef _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, typename NumTraits< Scalar >::Real prec=NumTraits< Scalar >::dummy_precision()) const
 
RotationMatrixType matrix () const
 
RotationMatrixType matrix () 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
 
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
 
Vector2 operator* (const Vector2 &vec) const
 
Rotation2D & operator*= (const Rotation2D &other)
 
template<typename OtherScalarType>
 Rotation2D (const Rotation2D< OtherScalarType > &other)
 
 Rotation2D (Scalar a)
 
Rotation2D slerp (Scalar t, const Rotation2D &other) const
 
Matrix2 toRotationMatrix (void) const
 

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
_Scalarthe 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

◆ RotationMatrixType [1/2]

typedef Matrix<Scalar,Dim,Dim> RotationMatrixType
inherited

corresponding linear transformation matrix type

◆ RotationMatrixType [2/2]

typedef Matrix<Scalar,Dim,Dim> RotationMatrixType
inherited

corresponding linear transformation matrix type

◆ Scalar

template<typename _Scalar>
typedef _Scalar Scalar

the scalar type of the coefficients

Constructor & Destructor Documentation

◆ Rotation2D() [1/2]

template<typename _Scalar>
Rotation2D ( Scalar a)
inline

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

◆ Rotation2D() [2/2]

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

Copy constructor with scalar type conversion

Member Function Documentation

◆ angle() [1/2]

template<typename _Scalar>
Scalar & angle ( )
inline
Returns
a read-write reference to the rotation angle

◆ angle() [2/2]

template<typename _Scalar>
Scalar angle ( ) const
inline
Returns
the rotation angle

Referenced by Rotation2D< float >::Rotation2D(), and Rotation2D< float >::slerp().

◆ cast()

template<typename _Scalar>
template<typename NewScalarType>
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.

◆ fromRotationMatrix()

template<typename _Scalar>
template<typename Derived>
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 inverse ( ) const
inline
Returns
the inverse rotation

◆ isApprox()

template<typename _Scalar>
bool isApprox ( const Rotation2D< _Scalar > & 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()

◆ matrix() [1/2]

RotationMatrixType matrix ( ) const
inlineinherited
Returns
an equivalent rotation matrix This function is added to be conform with the Transform class' naming scheme.

◆ matrix() [2/2]

RotationMatrixType matrix ( ) const
inlineinherited
Returns
an equivalent rotation matrix This function is added to be conform with the Transform class' naming scheme.

◆ operator*() [1/6]

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

Concatenates two rotations

◆ operator*() [3/6]

template<typename _Scalar>
Transform< Scalar, Dim, Mode > operator* ( const Transform< Scalar, Dim, Mode, Options > & t) const
inline
Returns
the concatenation of the rotation *this with a transformation t

◆ operator*() [4/6]

template<typename _Scalar>
Transform< Scalar, Dim, Isometry > operator* ( const Translation< Scalar, Dim > & t) const
inline
Returns
the concatenation of the rotation *this with a translation t

◆ operator*() [5/6]

template<typename _Scalar>
RotationMatrixType operator* ( const UniformScaling< Scalar > & s) const
inline
Returns
the concatenation of the rotation *this with a uniform scaling s

◆ operator*() [6/6]

template<typename _Scalar>
Vector2 operator* ( const Vector2 & vec) const
inline

Applies the rotation to a 2D vector

◆ operator*=()

template<typename _Scalar>
Rotation2D & operator*= ( const Rotation2D< _Scalar > & other)
inline

Concatenates two rotations

◆ slerp()

template<typename _Scalar>
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.

◆ toRotationMatrix()

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

Constructs and

Returns
an equivalent 2x2 rotation matrix.

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

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