Represents a rotation/orientation in a 2 dimensional space. More...
#include <Rotation2D.h>
Public Types | |
typedef Matrix< Scalar, Dim, Dim > | RotationMatrixType |
typedef _Scalar | Scalar |
Public Member Functions | |
Scalar | angle () const |
Scalar & | angle () |
template<typename NewScalarType > | |
internal::cast_return_type < Rotation2D, Rotation2D < NewScalarType > >::type | cast () const |
template<typename Derived > | |
Rotation2D & | fromRotationMatrix (const MatrixBase< Derived > &m) |
Rotation2D | inverse () const |
bool | isApprox (const Rotation2D &other, typename NumTraits< Scalar >::Real prec=NumTraits< Scalar >::dummy_precision()) const |
RotationMatrixType | matrix () const |
Transform< Scalar, Dim, Isometry > | operator* (const Translation< Scalar, Dim > &t) const |
RotationMatrixType | operator* (const UniformScaling< Scalar > &s) 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 |
Vector2 | operator* (const Vector2 &vec) const |
Transform< Scalar, Dim, Mode > | operator* (const Transform< Scalar, Dim, Mode, Options > &t) 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 |
Friends | |
RotationMatrixType | operator* (const EigenBase< OtherDerived > &l, const Rotation2D< _Scalar > &r) |
Transform< Scalar, Dim, Affine > | operator* (const DiagonalMatrix< Scalar, Dim > &l, const Rotation2D< _Scalar > &r) |
Represents a rotation/orientation in a 2 dimensional space.
This is defined in the Geometry module.
#include <Eigen/Geometry>
_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.
typedef Matrix<Scalar,Dim,Dim> RotationMatrixType [inherited] |
corresponding linear transformation matrix type
typedef _Scalar Scalar |
the scalar type of the coefficients
Reimplemented from RotationBase< Rotation2D< _Scalar >, 2 >.
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
References Rotation2D< _Scalar >::angle().
Referenced by Rotation2D< _Scalar >::Rotation2D(), and Rotation2D< _Scalar >::slerp().
internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast | ( | ) | const [inline] |
*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] |
Reimplemented from RotationBase< Rotation2D< _Scalar >, 2 >.
bool isApprox | ( | const Rotation2D< _Scalar > & | other, |
typename NumTraits< Scalar >::Real | prec = NumTraits<Scalar>::dummy_precision() |
||
) | const [inline] |
true
if *this
is approximately equal to other, within the precision determined by prec.RotationMatrixType matrix | ( | ) | const [inline, inherited] |
Transform<Scalar,Dim,Isometry> operator* | ( | const Translation< Scalar, Dim > & | t | ) | const [inline, inherited] |
*this
with a translation t RotationMatrixType operator* | ( | const UniformScaling< Scalar > & | s | ) | const [inline, inherited] |
*this
with a uniform scaling s internal::rotation_base_generic_product_selector<Rotation2D< _Scalar > ,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType operator* | ( | const EigenBase< OtherDerived > & | e | ) | const [inline, inherited] |
*this
with a generic expression e e can be:Rotation2D operator* | ( | const Rotation2D< _Scalar > & | other | ) | const [inline] |
Concatenates two rotations
Applies the rotation to a 2D vector
References Rotation2D< _Scalar >::toRotationMatrix().
Transform<Scalar,Dim,Mode> operator* | ( | const Transform< Scalar, Dim, Mode, Options > & | t | ) | const [inline, inherited] |
*this
with a transformation t Rotation2D& operator*= | ( | const Rotation2D< _Scalar > & | other | ) | [inline] |
Concatenates two rotations
Rotation2D slerp | ( | Scalar | t, |
const Rotation2D< _Scalar > & | other | ||
) | const [inline] |
*this
and other using parameter t. It is in fact equivalent to a linear interpolation. References Rotation2D< _Scalar >::angle().
Rotation2D< Scalar >::Matrix2 toRotationMatrix | ( | void | ) | const |
Constructs and
Reimplemented from RotationBase< Rotation2D< _Scalar >, 2 >.
Referenced by Rotation2D< _Scalar >::operator*().
RotationMatrixType operator* | ( | const EigenBase< OtherDerived > & | l, |
const Rotation2D< _Scalar > & | r | ||
) | [friend, inherited] |
Transform<Scalar,Dim,Affine> operator* | ( | const DiagonalMatrix< Scalar, Dim > & | l, |
const Rotation2D< _Scalar > & | r | ||
) | [friend, inherited] |