Eigen  3.3.7
Eigen::Rotation2D< _Scalar > Class Template Reference

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>
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
Inheritance diagram for Eigen::Rotation2D< _Scalar >:

Public Types

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

Public Member Functions

Scalar angle () const

Scalarangle ()

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

Rotation2Doperator*= (const Rotation2D &other)

template<typename Derived >
Rotation2Doperator= (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

Public Member Functions inherited from Eigen::RotationBase< Rotation2D< _Scalar >, 2 >
Rotation2D< _Scalar > inverse () 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

Transform< Scalar, Dim, Mode > operator* (const Transform< Scalar, Dim, Mode, Options > &t) 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 & a )
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 > & m )
inlineexplicit

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

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 ( ) const
inline
Returns
the rotation angle

◆ angle() [2/2]

template<typename _Scalar >
 Scalar& Eigen::Rotation2D< _Scalar >::angle ( )
inline
Returns
a read-write reference to the rotation angle

◆ cast()

template<typename _Scalar >
template<typename NewScalarType >
 internal::cast_return_type >::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& 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::dummy_precision()` ) const
inline
Returns
`true` if `*this` is approximately equal to other, within the precision determined by prec.
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 > & 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()

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 files: