10 #ifndef EIGEN_ROTATION2D_H
11 #define EIGEN_ROTATION2D_H
13 #include "./InternalHeaderCheck.h"
36 template<
typename Scalar_>
struct traits<Rotation2D<Scalar_> >
38 typedef Scalar_ Scalar;
42 template<
typename Scalar_>
49 using Base::operator*;
73 template<
typename Derived>
76 fromRotationMatrix(m.
derived());
80 EIGEN_DEVICE_FUNC
inline Scalar angle()
const {
return m_angle; }
95 else if(tmp<-
Scalar(EIGEN_PI)) tmp +=
Scalar(2*EIGEN_PI);
104 {
return Rotation2D(m_angle + other.m_angle); }
108 { m_angle += other.m_angle;
return *
this; }
114 template<
typename Derived>
125 template<
typename Derived>
127 {
return fromRotationMatrix(m.
derived()); }
143 template<
typename NewScalarType>
144 EIGEN_DEVICE_FUNC
inline typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type
cast()
const
145 {
return typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type(*
this); }
148 template<
typename OtherScalarType>
161 {
return internal::isApprox(m_angle,other.m_angle, prec); }
176 template<
typename Scalar>
177 template<
typename Derived>
180 EIGEN_USING_STD(atan2)
181 EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==2 && Derived::ColsAtCompileTime==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
182 m_angle = atan2(mat.
coeff(1,0), mat.
coeff(0,0));
188 template<
typename Scalar>
196 return (
Matrix2() << cosA, -sinA, sinA, cosA).finished();
Derived & derived()
Definition: EigenBase.h:48
CoeffReturnType coeff(Index row, Index col) const
Definition: DenseCoeffsBase.h:99
Base class for all dense matrices, vectors, and expressions.
Definition: MatrixBase.h:52
The matrix class, also used for vectors and row-vectors.
Definition: Matrix.h:182
Represents a rotation/orientation in a 2 dimensional space.
Definition: Rotation2D.h:44
Rotation2D inverse() const
Definition: Rotation2D.h:100
Scalar & angle()
Definition: Rotation2D.h:83
Scalar smallestPositiveAngle() const
Definition: Rotation2D.h:86
Scalar smallestAngle() const
Definition: Rotation2D.h:92
Rotation2D(const Scalar &a)
Definition: Rotation2D.h:64
internal::cast_return_type< Rotation2D, Rotation2D< NewScalarType > >::type cast() const
Definition: Rotation2D.h:144
Scalar angle() const
Definition: Rotation2D.h:80
Rotation2D & operator*=(const Rotation2D &other)
Definition: Rotation2D.h:107
Matrix2 toRotationMatrix() const
Definition: Rotation2D.h:190
Rotation2D operator*(const Rotation2D &other) const
Definition: Rotation2D.h:103
Rotation2D(const Rotation2D< OtherScalarType > &other)
Definition: Rotation2D.h:149
Rotation2D()
Definition: Rotation2D.h:67
Rotation2D & operator=(const MatrixBase< Derived > &m)
Definition: Rotation2D.h:126
Rotation2D slerp(const Scalar &t, const Rotation2D &other) const
Definition: Rotation2D.h:132
bool isApprox(const Rotation2D &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const
Definition: Rotation2D.h:160
Scalar_ Scalar
Definition: Rotation2D.h:53
Rotation2D(const MatrixBase< Derived > &m)
Definition: Rotation2D.h:74
Common base class for compact rotation representations.
Definition: RotationBase.h:32
Rotation2D< float > Rotation2Df
Definition: Rotation2D.h:167
Rotation2D< double > Rotation2Dd
Definition: Rotation2D.h:170
Matrix< Type, 2, 2 > Matrix2
[c++11] 2×2 matrix of type Type.
Definition: Matrix.h:533
Namespace containing all symbols from the Eigen library.
Definition: Core:139
const Eigen::CwiseUnaryOp< Eigen::internal::scalar_cos_op< typename Derived::Scalar >, const Derived > cos(const Eigen::ArrayBase< Derived > &x)
const Eigen::CwiseUnaryOp< Eigen::internal::scalar_sin_op< typename Derived::Scalar >, const Derived > sin(const Eigen::ArrayBase< Derived > &x)
Holds information about the various numeric (i.e. scalar) types allowed by Eigen.
Definition: NumTraits.h:231