Eigen: Eigen::Rotation2D< Scalar_ > Class Template Reference

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#include <Eigen/src/Geometry/Rotation2D.h>

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>

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

Inheritance diagram for Eigen::Rotation2D< Scalar_ >:

Public Types
typedef Scalar_	Scalar

Public Types inherited from Eigen::RotationBase< Rotation2D< Scalar_ >, 2 >
typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType

typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType

typedef internal::traits< Rotation2D< Scalar_ > >::Scalar	Scalar

typedef internal::traits< Rotation2D< Scalar_ > >::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, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) 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 Derived>
Rotation2D &	operator= (const MatrixBase< Derived > &m)

	Rotation2D ()

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

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

	Rotation2D (const Scalar &a)

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

Scalar	smallestAngle () const

Scalar	smallestPositiveAngle () const

Matrix2	toRotationMatrix () const

Public Member Functions inherited from Eigen::RotationBase< Rotation2D< Scalar_ >, 2 >
Rotation2D< Scalar_ >	inverse () const

Rotation2D< Scalar_ >	inverse () 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

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

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

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

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

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

RotationMatrixType	toRotationMatrix () const

RotationMatrixType	toRotationMatrix () const

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::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::Rotation2D< Scalar_ >::Rotation2D ( )

inline

Default constructor without initialization. The represented rotation is undefined.

◆ Rotation2D() [3/4]

template<typename Scalar_>

template<typename Derived>

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::Rotation2D< Scalar_ >::Rotation2D ( const Rotation2D< OtherScalarType > & other )

inlineexplicit

Copy constructor with scalar type conversion

Member Function Documentation

◆ angle() [1/2]

template<typename Scalar_>

Scalar & Eigen::Rotation2D< Scalar_ >::angle ( )

inline

Returns: a read-write reference to the rotation angle

◆ angle() [2/2]

template<typename Scalar_>

Scalar Eigen::Rotation2D< Scalar_ >::angle ( ) const

inline

Returns: the rotation angle

◆ cast()

template<typename Scalar_>

template<typename NewScalarType>

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>

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_>

Rotation2D Eigen::Rotation2D< Scalar_ >::inverse ( ) const

inline

Returns: the inverse rotation

◆ isApprox()

template<typename Scalar_>

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_>

internal::rotation_base_generic_product_selector< Rotation2D< Scalar_ >, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType Eigen::RotationBase< Rotation2D< Scalar_ >, Dim_ >::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 Eigen::Rotation2D< Scalar_ >::operator* ( const Rotation2D< Scalar_ > & other ) const

inline

Concatenates two rotations

◆ operator*() [3/6]

template<typename Scalar_>

Transform< Scalar, Dim, Mode > Eigen::RotationBase< Rotation2D< Scalar_ >, Dim_ >::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 > Eigen::RotationBase< Rotation2D< Scalar_ >, Dim_ >::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 Eigen::RotationBase< Rotation2D< Scalar_ >, Dim_ >::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 Eigen::Rotation2D< Scalar_ >::operator* ( const Vector2 & vec ) const

inline

Applies the rotation to a 2D vector

◆ operator*=()

template<typename Scalar_>

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

inline

Concatenates two rotations

◆ operator=()

template<typename Scalar_>

template<typename Derived>

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_>

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_>

Scalar Eigen::Rotation2D< Scalar_ >::smallestAngle ( ) const

inline

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

◆ smallestPositiveAngle()

template<typename Scalar_>

Scalar Eigen::Rotation2D< Scalar_ >::smallestPositiveAngle ( ) const

inline

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

◆ toRotationMatrix()

template<typename Scalar>

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

Constructs and

Returns: an equivalent 2x2 rotation matrix.

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

/builds/libeigen/eigen/Eigen/src/Core/util/ForwardDeclarations.h
/builds/libeigen/eigen/Eigen/src/Geometry/Rotation2D.h

Detailed Description

Public Types

Public Member Functions

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()