10 #ifndef EIGEN_ROTATION2D_H
11 #define EIGEN_ROTATION2D_H
34 template<
typename _Scalar>
struct traits<Rotation2D<_Scalar> >
36 typedef _Scalar Scalar;
40 template<
typename _Scalar>
41 class Rotation2D :
public RotationBase<Rotation2D<_Scalar>,2>
43 typedef RotationBase<Rotation2D<_Scalar>,2> Base;
47 using Base::operator*;
62 explicit inline Rotation2D(
const Scalar& a) : m_angle(a) {}
71 template<
typename Derived>
74 fromRotationMatrix(m.derived());
78 inline Scalar
angle()
const {
return m_angle; }
81 inline Scalar&
angle() {
return m_angle; }
85 Scalar tmp = fmod(m_angle,
Scalar(2)*EIGEN_PI);
91 Scalar tmp = fmod(m_angle,
Scalar(2)*EIGEN_PI);
102 {
return Rotation2D(m_angle + other.m_angle); }
106 { m_angle += other.m_angle;
return *
this; }
112 template<
typename Derived>
123 template<
typename Derived>
125 {
return fromRotationMatrix(m.derived()); }
132 Scalar dist =
Rotation2D(other.m_angle-m_angle).smallestAngle();
141 template<
typename NewScalarType>
142 inline typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type
cast()
const
143 {
return typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type(*
this); }
146 template<
typename OtherScalarType>
149 m_angle =
Scalar(other.angle());
159 {
return internal::isApprox(m_angle,other.m_angle, prec); }
174 template<
typename Scalar>
175 template<
typename Derived>
179 EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==2 && Derived::ColsAtCompileTime==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
180 m_angle = atan2(mat.coeff(1,0), mat.coeff(0,0));
186 template<
typename Scalar>
192 Scalar sinA = sin(m_angle);
193 Scalar cosA = cos(m_angle);
194 return (Matrix2() << cosA, -sinA, sinA, cosA).finished();
199 #endif // EIGEN_ROTATION2D_H
internal::cast_return_type< Rotation2D, Rotation2D< NewScalarType > >::type cast() const
Definition: Rotation2D.h:142
Matrix2 toRotationMatrix() const
Definition: Rotation2D.h:188
Rotation2D slerp(const Scalar &t, const Rotation2D &other) const
Definition: Rotation2D.h:130
Scalar smallestPositiveAngle() const
Definition: Rotation2D.h:84
Rotation2D(const Scalar &a)
Definition: Rotation2D.h:62
Rotation2D(const Rotation2D< OtherScalarType > &other)
Definition: Rotation2D.h:147
Holds information about the various numeric (i.e. scalar) types allowed by Eigen. ...
Definition: NumTraits.h:107
Rotation2D()
Definition: Rotation2D.h:65
Rotation2D(const MatrixBase< Derived > &m)
Definition: Rotation2D.h:72
bool isApprox(const Rotation2D &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const
Definition: Rotation2D.h:158
Rotation2D & operator=(const MatrixBase< Derived > &m)
Definition: Rotation2D.h:124
Scalar smallestAngle() const
Definition: Rotation2D.h:90
Rotation2D operator*(const Rotation2D &other) const
Definition: Rotation2D.h:101
Rotation2D inverse() const
Definition: Rotation2D.h:98
Definition: Eigen_Colamd.h:54
Rotation2D & operator*=(const Rotation2D &other)
Definition: Rotation2D.h:105
Represents a rotation/orientation in a 2 dimensional space.
Definition: ForwardDeclarations.h:266
Rotation2D< double > Rotation2Dd
Definition: Rotation2D.h:168
_Scalar Scalar
Definition: Rotation2D.h:51
The matrix class, also used for vectors and row-vectors.
Definition: Matrix.h:178
Scalar angle() const
Definition: Rotation2D.h:78
Rotation2D< float > Rotation2Df
Definition: Rotation2D.h:165
Scalar & angle()
Definition: Rotation2D.h:81
Base class for all dense matrices, vectors, and expressions.
Definition: MatrixBase.h:48