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Eigen::Rotation2D

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


typedef _Scalar	Scalar

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

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


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

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 ()

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

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

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

RotationMatrixType	toRotationMatrix () const

Scalar

template<typename _Scalar >

typedef _Scalar Eigen::Rotation2D< _Scalar >::Scalar

the scalar type of the coefficients

Rotation2D() [1/4]

template<typename _Scalar >

Eigen::Rotation2D< _Scalar >::Rotation2D

(

const Scalar &

)

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 wihtout initialization. The represented rotation is undefined.

Rotation2D() [3/4]

template<typename _Scalar >

template<typename Derived >

Eigen::Rotation2D< _Scalar >::Rotation2D

(

const MatrixBase< Derived > &

)

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

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*() [1/2]

template<typename _Scalar >

Rotation2D Eigen::Rotation2D< _Scalar >::operator*

(

const Rotation2D< _Scalar > &

other

)

const

inline

Concatenates two rotations

operator*() [2/2]

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 > &

)

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 file:

Rotation2D.h

Eigen::Rotation2D

template<typename _Scalar> class Eigen::Rotation2D< _Scalar >

Scalar

Rotation2D() [1/4]

Rotation2D() [2/4]

Rotation2D() [3/4]

Rotation2D() [4/4]

angle() [1/2]

angle() [2/2]

cast()

fromRotationMatrix()

inverse()

isApprox()

operator*() [1/2]

operator*() [2/2]

operator*=()

operator=()

slerp()

smallestAngle()

smallestPositiveAngle()

toRotationMatrix()

template<typename _Scalar>
class Eigen::Rotation2D< _Scalar >