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*;
65 inline Scalar
angle()
const {
return m_angle; }
68 inline Scalar&
angle() {
return m_angle; }
75 {
return m_angle + other.m_angle; }
79 { m_angle += other.m_angle;
return *
this; }
82 Vector2 operator* (
const Vector2& vec)
const 83 {
return toRotationMatrix() * vec; }
85 template<
typename Derived>
87 Matrix2 toRotationMatrix(
void)
const;
93 {
return m_angle * (1-t) + other.angle() * t; }
100 template<
typename NewScalarType>
101 inline typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type
cast()
const 102 {
return typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type(*
this); }
105 template<
typename OtherScalarType>
108 m_angle = Scalar(other.angle());
118 {
return internal::isApprox(m_angle,other.m_angle, prec); }
132 template<
typename Scalar>
133 template<
typename Derived>
137 EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==2 && Derived::ColsAtCompileTime==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
138 m_angle = atan2(mat.coeff(1,0), mat.coeff(0,0));
144 template<
typename Scalar>
150 Scalar sinA = sin(m_angle);
151 Scalar cosA = cos(m_angle);
152 return (Matrix2() << cosA, -sinA, sinA, cosA).finished();
157 #endif // EIGEN_ROTATION2D_H bool isApprox(const Rotation2D &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const
Definition: Rotation2D.h:117
Rotation2D operator*(const Rotation2D &other) const
Definition: Rotation2D.h:74
Rotation2D< double > Rotation2Dd
Definition: Rotation2D.h:126
Holds information about the various numeric (i.e. scalar) types allowed by Eigen. ...
Definition: NumTraits.h:88
Rotation2D(const Scalar &a)
Definition: Rotation2D.h:62
Scalar angle() const
Definition: Rotation2D.h:65
_Scalar Scalar
Definition: Rotation2D.h:51
Rotation2D inverse() const
Definition: Rotation2D.h:71
Rotation2D< float > Rotation2Df
Definition: Rotation2D.h:123
Matrix2 toRotationMatrix(void) const
Definition: Rotation2D.h:146
Definition: Eigen_Colamd.h:54
Rotation2D & operator*=(const Rotation2D &other)
Definition: Rotation2D.h:78
Represents a rotation/orientation in a 2 dimensional space.
Definition: ForwardDeclarations.h:234
Rotation2D(const Rotation2D< OtherScalarType > &other)
Definition: Rotation2D.h:106
internal::cast_return_type< Rotation2D, Rotation2D< NewScalarType > >::type cast() const
Definition: Rotation2D.h:101
The matrix class, also used for vectors and row-vectors.
Definition: Matrix.h:127
Rotation2D slerp(const Scalar &t, const Rotation2D &other) const
Definition: Rotation2D.h:92
Base class for all dense matrices, vectors, and expressions.
Definition: MatrixBase.h:48
Scalar & angle()
Definition: Rotation2D.h:68