Rotation2D< _Scalar > Class Template Reference
[Geometry module]

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

List of all members.

Public Types

enum  { Dim }
typedef Matrix< Scalar, 2, 2 > Matrix2
typedef _Scalar Scalar
typedef Matrix< Scalar, 2, 1 > Vector2

Public Member Functions

Scalarangle ()
Scalar angle () const
template<typename NewScalarType >
ei_cast_return_type
< Rotation2D, Rotation2D
< NewScalarType > >::type 
cast () const
template<typename Derived >
Rotation2DfromRotationMatrix (const MatrixBase< Derived > &m)
Rotation2D inverse () const
bool isApprox (const Rotation2D &other, typename NumTraits< Scalar >::Real prec=precision< Scalar >()) const
Vector2 operator* (const Vector2 &vec) const
Rotation2D operator* (const Rotation2D &other) const
Rotation2Doperator*= (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

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

Reimplemented from RotationBase< Rotation2D< _Scalar >, 2 >.


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  )  [inline, explicit]

Copy constructor with scalar type conversion


Member Function Documentation

Scalar& angle (  )  [inline]

Returns:
a read-write reference to the rotation angle

Scalar angle (  )  const [inline]

Returns:
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  )  [inline]

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

Reimplemented from RotationBase< Rotation2D< _Scalar >, 2 >.

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()

Vector2 operator* ( const Vector2 vec  )  const [inline]

Applies the rotation to a 2D vector

Rotation2D operator* ( const Rotation2D< _Scalar > &  other  )  const [inline]

Concatenates two rotations

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 [inline]

Constructs and

Returns:
an equivalent 2x2 rotation matrix.

Reimplemented from RotationBase< Rotation2D< _Scalar >, 2 >.


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

Generated on Thu Oct 8 14:53:05 2009 for Eigen by  doxygen 1.5.9