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Eigen
3.3.3
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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.
Public Types | |
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, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const |
Rotation2D | operator* (const Rotation2D &other) const |
Vector2 | operator* (const Vector2 &vec) const |
Rotation2D & | operator*= (const Rotation2D &other) |
template<typename Derived > | |
Rotation2D & | operator= (const MatrixBase< Derived > &m) |
Rotation2D (const Scalar &a) | |
Rotation2D () | |
template<typename Derived > | |
Rotation2D (const MatrixBase< Derived > &m) | |
template<typename OtherScalarType > | |
Rotation2D (const Rotation2D< OtherScalarType > &other) | |
Rotation2D | slerp (const Scalar &t, const Rotation2D &other) const |
Scalar | smallestAngle () const |
Scalar | smallestPositiveAngle () const |
Matrix2 | toRotationMatrix () const |
typedef _Scalar Eigen::Rotation2D< _Scalar >::Scalar |
the scalar type of the coefficients
Reimplemented from Eigen::RotationBase< Rotation2D< _Scalar >, 2 >.
Eigen::Rotation2D< _Scalar >::Rotation2D | ( | const Scalar & | a | ) | [inline, explicit] |
Construct a 2D counter clock wise rotation from the angle a in radian.
Eigen::Rotation2D< _Scalar >::Rotation2D | ( | ) | [inline] |
Default constructor wihtout initialization. The represented rotation is undefined.
Eigen::Rotation2D< _Scalar >::Rotation2D | ( | const MatrixBase< Derived > & | m | ) | [inline, explicit] |
Construct a 2D rotation from a 2x2 rotation matrix mat.
Eigen::Rotation2D< _Scalar >::Rotation2D | ( | const Rotation2D< OtherScalarType > & | other | ) | [inline, explicit] |
Copy constructor with scalar type conversion
Scalar Eigen::Rotation2D< _Scalar >::angle | ( | ) | const [inline] |
Scalar& Eigen::Rotation2D< _Scalar >::angle | ( | ) | [inline] |
internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type Eigen::Rotation2D< _Scalar >::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 > & 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.
Rotation2D Eigen::Rotation2D< _Scalar >::inverse | ( | ) | const [inline] |
Reimplemented from Eigen::RotationBase< Rotation2D< _Scalar >, 2 >.
bool Eigen::Rotation2D< _Scalar >::isApprox | ( | const Rotation2D< _Scalar > & | other, |
const 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.Rotation2D Eigen::Rotation2D< _Scalar >::operator* | ( | const Rotation2D< _Scalar > & | other | ) | const [inline] |
Concatenates two rotations
Vector2 Eigen::Rotation2D< _Scalar >::operator* | ( | const Vector2 & | vec | ) | const [inline] |
Applies the rotation to a 2D vector
Rotation2D& Eigen::Rotation2D< _Scalar >::operator*= | ( | const Rotation2D< _Scalar > & | other | ) | [inline] |
Concatenates two rotations
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()
Rotation2D Eigen::Rotation2D< _Scalar >::slerp | ( | const Scalar & | t, |
const Rotation2D< _Scalar > & | other | ||
) | const [inline] |
*this
and other using parameter t. It is in fact equivalent to a linear interpolation. Scalar Eigen::Rotation2D< _Scalar >::smallestAngle | ( | ) | const [inline] |
Scalar Eigen::Rotation2D< _Scalar >::smallestPositiveAngle | ( | ) | const [inline] |
Rotation2D< Scalar >::Matrix2 Eigen::Rotation2D< Scalar >::toRotationMatrix | ( | void | ) | const |
Constructs and
Reimplemented from Eigen::RotationBase< Rotation2D< _Scalar >, 2 >.