Please, help us to better know about our user community by answering the following short survey: https://forms.gle/wpyrxWi18ox9Z5ae9 Eigen  3.3.8 Eigen::Rotation2D Class Reference

## Detailed Description

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.

class Quaternion, class Transform

## Public Types

typedef _Scalar Scalar

## Public Member Functions

Scalarangle ()

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

template<typename OtherDerived >
internal::rotation_base_generic_product_selector< Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType operator* (const EigenBase< OtherDerived > &e) const

Rotation2D operator* (const Rotation2D &other) const

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

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

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

Vector2 operator* (const Vector2 &vec) const

Rotation2Doperator*= (const Rotation2D &other)

template<typename Derived >
Rotation2Doperator= (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

## ◆ Scalar

 typedef _Scalar Eigen::Rotation2D::Scalar

the scalar type of the coefficients

## ◆ Rotation2D() [1/4]

 Eigen::Rotation2D::Rotation2D ( const Scalar & a )
inlineexplicit

Construct a 2D counter clock wise rotation from the angle a in radian.

## ◆ Rotation2D() [2/4]

 Eigen::Rotation2D::Rotation2D ( )
inline

Default constructor wihtout initialization. The represented rotation is undefined.

## ◆ Rotation2D() [3/4]

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

Construct a 2D rotation from a 2x2 rotation matrix mat.

fromRotationMatrix()

## ◆ Rotation2D() [4/4]

template<typename OtherScalarType >
 Eigen::Rotation2D::Rotation2D ( const Rotation2D< OtherScalarType > & other )
inlineexplicit

Copy constructor with scalar type conversion

## ◆ angle() [1/2]

 Scalar& Eigen::Rotation2D::angle ( )
inline
Returns
a read-write reference to the rotation angle

## ◆ angle() [2/2]

 Scalar Eigen::Rotation2D::angle ( ) const
inline
Returns
the rotation angle

## ◆ cast()

template<typename NewScalarType >
 internal::cast_return_type >::type Eigen::Rotation2D::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 Derived >
 Rotation2D& Eigen::Rotation2D::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()

 Rotation2D Eigen::Rotation2D::inverse ( ) const
inline
Returns
the inverse rotation

## ◆ isApprox()

 bool Eigen::Rotation2D::isApprox ( const Rotation2D & other, const typename NumTraits< Scalar >::Real & prec = NumTraits::dummy_precision() ) const
inline
Returns
true if *this is approximately equal to other, within the precision determined by prec.
MatrixBase::isApprox()

## ◆ operator*() [1/6]

template<typename OtherDerived >
 internal::rotation_base_generic_product_selector::ReturnType Eigen::RotationBase::operator* ( typename OtherDerived )
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]

 Rotation2D Eigen::Rotation2D::operator* ( const Rotation2D & other ) const
inline

Concatenates two rotations

## ◆ operator*() [3/6]

template<int Mode, int Options>
 Transform Eigen::RotationBase::operator* ( int Mode, int Options )
inline
Returns
the concatenation of the rotation *this with a transformation t

## ◆ operator*() [4/6]

 Transform Eigen::RotationBase::operator*
inline
Returns
the concatenation of the rotation *this with a translation t

## ◆ operator*() [5/6]

 RotationMatrixType Eigen::RotationBase::operator*
inline
Returns
the concatenation of the rotation *this with a uniform scaling s

## ◆ operator*() [6/6]

 Vector2 Eigen::Rotation2D::operator* ( const Vector2 & vec ) const
inline

Applies the rotation to a 2D vector

## ◆ operator*=()

 Rotation2D& Eigen::Rotation2D::operator*= ( const Rotation2D & other )
inline

Concatenates two rotations

## ◆ operator=()

template<typename Derived >
 Rotation2D& Eigen::Rotation2D::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()

fromRotationMatrix()

## ◆ slerp()

 Rotation2D Eigen::Rotation2D::slerp ( const Scalar & t, const Rotation2D & other ) const
inline
Returns
the spherical interpolation between *this and other using parameter t. It is in fact equivalent to a linear interpolation.

## ◆ smallestAngle()

 Scalar Eigen::Rotation2D::smallestAngle ( ) const
inline
Returns
the rotation angle in [-pi,pi]

## ◆ smallestPositiveAngle()

 Scalar Eigen::Rotation2D::smallestPositiveAngle ( ) const
inline
Returns
the rotation angle in [0,2pi]

## ◆ toRotationMatrix()

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

Constructs and

Returns
an equivalent 2x2 rotation matrix.

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