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<li class="navelem"><a class="el" href="namespace_eigen.html">Eigen</a> </li>
<li class="navelem"><a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> </li>
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<div class="title">Eigen::Rotation2D Class Reference<div class="ingroups"><a class="el" href="group___geometry___module.html">Geometry module</a></div></div> </div>
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<!-- doxytag: class="Eigen::Rotation2D" --><!-- doxytag: inherits="RotationBase< Rotation2D< _Scalar >, 2 >" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Represents a rotation/orientation in a 2 dimensional space.</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">_Scalar</td><td>the scalar type, i.e., the type of the coefficients</td></tr>
</table>
</dd>
</dl>
<p>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 <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a> in order to facilitate the writing of generic algorithms dealing with rotations.</p>
<dl class="see"><dt><b>See also:</b></dt><dd>class <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>, class <a class="el" href="class_eigen_1_1_transform.html">Transform</a> </dd></dl>
</div><div class="dynheader">
Inheritance diagram for Eigen::Rotation2D:</div>
<div class="dyncontent">
<div class="center"><img src="class_eigen_1_1_rotation2_d__inherit__graph.png" border="0" usemap="#_eigen_1_1_rotation2_d_inherit__map" alt="Inheritance graph"/></div>
<map name="_eigen_1_1_rotation2_d_inherit__map" id="_eigen_1_1_rotation2_d_inherit__map">
<area shape="rect" id="node2" href="class_eigen_1_1_rotation_base.html" title="Eigen::RotationBase\< Rotation2D\< _Scalar \>, 2 \>" alt="" coords="5,96,320,123"/><area shape="rect" id="node4" href="class_eigen_1_1_rotation_base.html" title="Common base class for compact rotation representations." alt="" coords="91,5,233,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="class_eigen_1_1_rotation2_d-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="class_eigen_1_1_rotation2_d.html#a6aae323869ebf0cacdf577db876a7afda7b83ba4a2cb0f848b931feb6ee745c76">Dim</a> = 2
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef _Scalar </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">the scalar type of the coefficients <a href="#a6f18e82316c3194f5c4dd320005f24ce"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_eigen_1_1_matrix.html">Matrix</a>< <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>, 2, 1 > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#ab38568fbc2baf9a90d82d2dcfc9a4af5">Vector2</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_eigen_1_1_matrix.html">Matrix</a>< <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>, 2, 2 > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#a1dd3542ea45dd713355d16316ba589c2">Matrix2</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_eigen_1_1_matrix.html">Matrix</a>< <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>, Dim, Dim > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a98999cd115b5012425fb5d463a5674f6">RotationMatrixType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">corresponding linear transformation matrix type <a href="#a98999cd115b5012425fb5d463a5674f6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_eigen_1_1_matrix.html">Matrix</a>< <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>, Dim, 1 > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#afb882774a4b4dbcef5aa7f90dce9cd85">VectorType</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#a50e9522099fceebf2cdb1edf8fa0c621">Rotation2D</a> (<a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a> a)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Construct a 2D counter clock wise rotation from the angle <em>a</em> in radian. <a href="#a50e9522099fceebf2cdb1edf8fa0c621"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#a2753d3006e244ca3d123c3c438b436e4">angle</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#a6ce8059b1551e2b2fffafd5f332d9ff6">angle</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#a008d1ef5fb57c170feb20f318a7ac50e">inverse</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#ae52d6205fb65550f838a5133722861d4">operator*</a> (const <a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> &other) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Concatenates two rotations. <a href="#ae52d6205fb65550f838a5133722861d4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#a8acc3aa9240bd19109c5044419acb913">operator*=</a> (const <a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> &other)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Concatenates two rotations. <a href="#a8acc3aa9240bd19109c5044419acb913"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation2_d.html#ab38568fbc2baf9a90d82d2dcfc9a4af5">Vector2</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#a1d5098e439e5f98fb3e2971c617ec1aa">operator*</a> (const <a class="el" href="class_eigen_1_1_rotation2_d.html#ab38568fbc2baf9a90d82d2dcfc9a4af5">Vector2</a> &vec) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Applies the rotation to a 2D vector. <a href="#a1d5098e439e5f98fb3e2971c617ec1aa"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename Derived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#ab7c8fd752eded1d85a39a7630a07d43c">fromRotationMatrix</a> (const <a class="el" href="class_eigen_1_1_matrix_base.html">MatrixBase</a>< Derived > &m)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set <code>*this</code> from a 2x2 rotation matrix <em>mat</em>. <a href="#ab7c8fd752eded1d85a39a7630a07d43c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation2_d.html#a1dd3542ea45dd713355d16316ba589c2">Matrix2</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#a642c431d09d3b1df46fe75eb88645f79">toRotationMatrix</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructs and. <a href="#a642c431d09d3b1df46fe75eb88645f79"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#a0a3275e5ca15c82f17df7ae04c77c96f">slerp</a> (<a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a> t, const <a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> &other) const </td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename NewScalarType > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="struct_eigen_1_1internal_1_1cast__return__type.html">internal::cast_return_type</a><br class="typebreak"/>
< <a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a>, <a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a><br class="typebreak"/>
< NewScalarType > >::type </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#a41b79d2391583d46d4d978769569d608">cast</a> () const </td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename OtherScalarType > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#ae6ba393cc76235616a8d940eced9a281">Rotation2D</a> (const <a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a>< OtherScalarType > &other)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy constructor with scalar type conversion. <a href="#ae6ba393cc76235616a8d940eced9a281"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#a785b48223ecfd00cf2f9e748708b822e">isApprox</a> (const <a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> &other, typename <a class="el" href="struct_eigen_1_1_num_traits.html">NumTraits</a>< <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a> >::Real prec=<a class="el" href="struct_eigen_1_1_num_traits.html">NumTraits</a>< <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a> >::dummy_precision()) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const Derived & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a0c2e92d5198f6204f784742db685df32">derived</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">Derived & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a8262de4c1d1a483f81ded1191c5daf88">derived</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation_base.html#a98999cd115b5012425fb5d463a5674f6">RotationMatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#adbfbf089f4976d177623c7205221a211">matrix</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>, Dim, Isometry > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a91f95c3a3b71740ab18cd205b1417553">operator*</a> (const <a class="el" href="class_eigen_1_1_translation.html">Translation</a>< <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>, Dim > &t) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation_base.html#a98999cd115b5012425fb5d463a5674f6">RotationMatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a35d3ed20eb17d34a130e773f10ac49fb">operator*</a> (const <a class="el" href="class_eigen_1_1_uniform_scaling.html">UniformScaling</a>< <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a> > &s) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">EIGEN_STRONG_INLINE <br class="typebreak"/>
internal::rotation_base_generic_product_selector<br class="typebreak"/>
< Derived, OtherDerived, <br class="typebreak"/>
OtherDerived::IsVectorAtCompileTime ><br class="typebreak"/>
::ReturnType </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a9bf235c2eb3dc34fdc9482422277871d">operator*</a> (const <a class="el" href="struct_eigen_1_1_eigen_base.html">EigenBase</a>< OtherDerived > &e) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>, Dim, Mode > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a9dac793c1b1f98aacac97feade385f48">operator*</a> (const <a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>, Dim, Mode, Options > &t) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation_base.html#afb882774a4b4dbcef5aa7f90dce9cd85">VectorType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a5510a40abdb1dd3f3c1c576683657b3e">_transformVector</a> (const OtherVectorType &v) const </td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#a4ebd4b0db87ebd3261ab51981e55e855">Identity</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#a11a21041c84c3ba62e452d51f8a3af03">m_angle</a></td></tr>
<tr><td colspan="2"><h2><a name="pri-types"></a>
Private Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_eigen_1_1_rotation_base.html">RotationBase</a><br class="typebreak"/>
< <a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a>< _Scalar >, 2 > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation2_d.html#a43534afa8a23d6d090debe73507d9087">Base</a></td></tr>
<tr><td colspan="2"><h2><a name="friends"></a>
Friends</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation_base.html#a98999cd115b5012425fb5d463a5674f6">RotationMatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a38f506f2d3617685d1f684cdbc4f8dd4">operator*</a> (const <a class="el" href="struct_eigen_1_1_eigen_base.html">EigenBase</a>< OtherDerived > &l, const Derived &r)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>, Dim, Affine > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a615ece720e9826703b399dfaeaba1ae0">operator*</a> (const <a class="el" href="class_eigen_1_1_diagonal_matrix.html">DiagonalMatrix</a>< <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>, Dim > &l, const Derived &r)</td></tr>
</table>
<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a43534afa8a23d6d090debe73507d9087"></a><!-- doxytag: member="Eigen::Rotation2D::Base" ref="a43534afa8a23d6d090debe73507d9087" args="" -->
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<td class="memname">typedef <a class="el" href="class_eigen_1_1_rotation_base.html">RotationBase</a><<a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a><_Scalar>,2> <a class="el" href="class_eigen_1_1_rotation2_d.html#a43534afa8a23d6d090debe73507d9087">Eigen::Rotation2D::Base</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00057">57</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a1dd3542ea45dd713355d16316ba589c2"></a><!-- doxytag: member="Eigen::Rotation2D::Matrix2" ref="a1dd3542ea45dd713355d16316ba589c2" args="" -->
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<td class="memname">typedef <a class="el" href="class_eigen_1_1_matrix.html">Matrix</a><<a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>,2,2> <a class="el" href="class_eigen_1_1_rotation2_d.html#a1dd3542ea45dd713355d16316ba589c2">Eigen::Rotation2D::Matrix2</a></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00067">67</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a98999cd115b5012425fb5d463a5674f6"></a><!-- doxytag: member="Eigen::Rotation2D::RotationMatrixType" ref="a98999cd115b5012425fb5d463a5674f6" args="" -->
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<td class="memname">typedef <a class="el" href="class_eigen_1_1_matrix.html">Matrix</a><<a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>,Dim,Dim> <a class="el" href="class_eigen_1_1_rotation_base.html#a98999cd115b5012425fb5d463a5674f6">Eigen::RotationBase::RotationMatrixType</a><code> [inherited]</code></td>
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<p>corresponding linear transformation matrix type </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00051">51</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a6f18e82316c3194f5c4dd320005f24ce"></a><!-- doxytag: member="Eigen::Rotation2D::Scalar" ref="a6f18e82316c3194f5c4dd320005f24ce" args="" -->
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<td class="memname">typedef _Scalar <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Eigen::Rotation2D::Scalar</a></td>
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<p>the scalar type of the coefficients </p>
<p>Reimplemented from <a class="el" href="class_eigen_1_1_rotation_base.html#ab610d6962186e763b08357bf9b1a5b3b">Eigen::RotationBase< Rotation2D< _Scalar >, 2 ></a>.</p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00065">65</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="ab38568fbc2baf9a90d82d2dcfc9a4af5"></a><!-- doxytag: member="Eigen::Rotation2D::Vector2" ref="ab38568fbc2baf9a90d82d2dcfc9a4af5" args="" -->
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<td class="memname">typedef <a class="el" href="class_eigen_1_1_matrix.html">Matrix</a><<a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>,2,1> <a class="el" href="class_eigen_1_1_rotation2_d.html#ab38568fbc2baf9a90d82d2dcfc9a4af5">Eigen::Rotation2D::Vector2</a></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00066">66</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="afb882774a4b4dbcef5aa7f90dce9cd85"></a><!-- doxytag: member="Eigen::Rotation2D::VectorType" ref="afb882774a4b4dbcef5aa7f90dce9cd85" args="" -->
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<td class="memname">typedef <a class="el" href="class_eigen_1_1_matrix.html">Matrix</a><<a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>,Dim,1> <a class="el" href="class_eigen_1_1_rotation_base.html#afb882774a4b4dbcef5aa7f90dce9cd85">Eigen::RotationBase::VectorType</a><code> [inherited]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00052">52</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="a324068ae376740b6b95b195e545ab266"></a><!-- doxytag: member="Eigen::Rotation2D::@350" ref="a324068ae376740b6b95b195e545ab266" args="" -->
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<td class="memname">anonymous enum<code> [inherited]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00046">46</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a6aae323869ebf0cacdf577db876a7afd"></a><!-- doxytag: member="Eigen::Rotation2D::@353" ref="a6aae323869ebf0cacdf577db876a7afd" args="" -->
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<td class="memname">anonymous enum</td>
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<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a6aae323869ebf0cacdf577db876a7afda7b83ba4a2cb0f848b931feb6ee745c76"></a><!-- doxytag: member="Dim" ref="a6aae323869ebf0cacdf577db876a7afda7b83ba4a2cb0f848b931feb6ee745c76" args="" -->Dim</em> </td><td>
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</dd>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00063">63</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a50e9522099fceebf2cdb1edf8fa0c621"></a><!-- doxytag: member="Eigen::Rotation2D::Rotation2D" ref="a50e9522099fceebf2cdb1edf8fa0c621" args="(Scalar a)" -->
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<td class="memname">Eigen::Rotation2D::Rotation2D </td>
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<td class="paramtype"><a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a> </td>
<td class="paramname"><em>a</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Construct a 2D counter clock wise rotation from the angle <em>a</em> in radian. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00076">76</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname">Eigen::Rotation2D::Rotation2D </td>
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<td class="paramtype">const <a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a>< OtherScalarType > & </td>
<td class="paramname"><em>other</em></td><td>)</td>
<td><code> [inline, explicit]</code></td>
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<p>Copy constructor with scalar type conversion. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00120">120</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation_base.html#afb882774a4b4dbcef5aa7f90dce9cd85">VectorType</a> Eigen::RotationBase::_transformVector </td>
<td>(</td>
<td class="paramtype">const OtherVectorType & </td>
<td class="paramname"><em>v</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00107">107</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a> Eigen::Rotation2D::angle </td>
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<td> const<code> [inline]</code></td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the rotation angle </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00079">79</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>& Eigen::Rotation2D::angle </td>
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<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a read-write reference to the rotation angle </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00082">82</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a41b79d2391583d46d4d978769569d608"></a><!-- doxytag: member="Eigen::Rotation2D::cast" ref="a41b79d2391583d46d4d978769569d608" args="() const " -->
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template<typename NewScalarType > </div>
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<td class="memname"><a class="el" href="struct_eigen_1_1internal_1_1cast__return__type.html">internal::cast_return_type</a><<a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a>,<a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a><NewScalarType> >::type Eigen::Rotation2D::cast </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd><code>*this</code> with scalar type casted to <em>NewScalarType</em> </dd></dl>
<p>Note that if <em>NewScalarType</em> is equal to the current scalar type of <code>*this</code> then this function smartly returns a const reference to <code>*this</code>. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00115">115</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a0c2e92d5198f6204f784742db685df32"></a><!-- doxytag: member="Eigen::Rotation2D::derived" ref="a0c2e92d5198f6204f784742db685df32" args="() const " -->
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<td class="memname">const Derived& Eigen::RotationBase::derived </td>
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<td> const<code> [inline, inherited]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00055">55</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a8262de4c1d1a483f81ded1191c5daf88"></a><!-- doxytag: member="Eigen::Rotation2D::derived" ref="a8262de4c1d1a483f81ded1191c5daf88" args="()" -->
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<td><code> [inline, inherited]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00056">56</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="ab7c8fd752eded1d85a39a7630a07d43c"></a><!-- doxytag: member="Eigen::Rotation2D::fromRotationMatrix" ref="ab7c8fd752eded1d85a39a7630a07d43c" args="(const MatrixBase< Derived > &m)" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a>< <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a> > & Eigen::Rotation2D::fromRotationMatrix </td>
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<td class="paramtype">const <a class="el" href="class_eigen_1_1_matrix_base.html">MatrixBase</a>< Derived > & </td>
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<p>Set <code>*this</code> from a 2x2 rotation matrix <em>mat</em>. </p>
<p>In other words, this function extract the rotation angle from the rotation matrix. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00148">148</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a4ebd4b0db87ebd3261ab51981e55e855"></a><!-- doxytag: member="Eigen::Rotation2D::Identity" ref="a4ebd4b0db87ebd3261ab51981e55e855" args="()" -->
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<td class="memname">static <a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> Eigen::Rotation2D::Identity </td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00125">125</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a008d1ef5fb57c170feb20f318a7ac50e"></a><!-- doxytag: member="Eigen::Rotation2D::inverse" ref="a008d1ef5fb57c170feb20f318a7ac50e" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> Eigen::Rotation2D::inverse </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the inverse rotation </dd></dl>
<p>Reimplemented from <a class="el" href="class_eigen_1_1_rotation_base.html#ae68d14f5a454792f7fa38f04a038771d">Eigen::RotationBase< Rotation2D< _Scalar >, 2 ></a>.</p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00085">85</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a785b48223ecfd00cf2f9e748708b822e"></a><!-- doxytag: member="Eigen::Rotation2D::isApprox" ref="a785b48223ecfd00cf2f9e748708b822e" args="(const Rotation2D &other, typename NumTraits< Scalar >::Real prec=NumTraits< Scalar >::dummy_precision()) const " -->
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<td class="paramtype">typename <a class="el" href="struct_eigen_1_1_num_traits.html">NumTraits</a>< <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a> >::Real </td>
<td class="paramname"><em>prec</em> = <code><a class="el" href="struct_eigen_1_1_num_traits.html">NumTraits</a><<a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>>::dummy_precision()</code> </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd><code>true</code> if <code>*this</code> is approximately equal to <em>other</em>, within the precision determined by <em>prec</em>.</dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_dense_base.html#ad054d515cf1c46a71e621dea16af2dda">MatrixBase::isApprox()</a> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00131">131</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="adbfbf089f4976d177623c7205221a211"></a><!-- doxytag: member="Eigen::Rotation2D::matrix" ref="adbfbf089f4976d177623c7205221a211" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation_base.html#a98999cd115b5012425fb5d463a5674f6">RotationMatrixType</a> Eigen::RotationBase::matrix </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>an equivalent rotation matrix This function is added to be conform with the Transform class' naming scheme. </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00064">64</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a91f95c3a3b71740ab18cd205b1417553"></a><!-- doxytag: member="Eigen::Rotation2D::operator*" ref="a91f95c3a3b71740ab18cd205b1417553" args="(const Translation< Scalar, Dim > &t) const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html">Transform</a><<a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>,Dim,Isometry> Eigen::RotationBase::operator* </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_translation.html">Translation</a>< <a class="el" href="class_eigen_1_1_rotation_base.html#ab610d6962186e763b08357bf9b1a5b3b">Scalar</a>, Dim > & </td>
<td class="paramname"><em>t</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the concatenation of the rotation <code>*this</code> with a translation <em>t</em> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00070">70</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation_base.html#a98999cd115b5012425fb5d463a5674f6">RotationMatrixType</a> Eigen::RotationBase::operator* </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_uniform_scaling.html">UniformScaling</a>< <a class="el" href="class_eigen_1_1_rotation_base.html#ab610d6962186e763b08357bf9b1a5b3b">Scalar</a> > & </td>
<td class="paramname"><em>s</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the concatenation of the rotation <code>*this</code> with a uniform scaling <em>s</em> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00074">74</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname">EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType Eigen::RotationBase::operator* </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="struct_eigen_1_1_eigen_base.html">EigenBase</a>< OtherDerived > & </td>
<td class="paramname"><em>e</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the concatenation of the rotation <code>*this</code> with a generic expression <em>e</em> <em>e</em> can be:<ul>
<li>a DimxDim linear transformation matrix</li>
<li>a DimxDim diagonal matrix (axis aligned scaling)</li>
<li>a vector of size Dim </li>
</ul>
</dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00085">85</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> Eigen::Rotation2D::operator* </td>
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<td class="paramtype">const <a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> & </td>
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<p>Concatenates two rotations. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00088">88</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation2_d.html#ab38568fbc2baf9a90d82d2dcfc9a4af5">Vector2</a> Eigen::Rotation2D::operator* </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_rotation2_d.html#ab38568fbc2baf9a90d82d2dcfc9a4af5">Vector2</a> & </td>
<td class="paramname"><em>vec</em></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Applies the rotation to a 2D vector. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00096">96</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a9dac793c1b1f98aacac97feade385f48"></a><!-- doxytag: member="Eigen::Rotation2D::operator*" ref="a9dac793c1b1f98aacac97feade385f48" args="(const Transform< Scalar, Dim, Mode, Options > &t) const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html">Transform</a><<a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>,Dim,Mode> Eigen::RotationBase::operator* </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_rotation_base.html#ab610d6962186e763b08357bf9b1a5b3b">Scalar</a>, Dim, Mode, Options > & </td>
<td class="paramname"><em>t</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the concatenation of the rotation <code>*this</code> with a transformation <em>t</em> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00103">103</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a>& Eigen::Rotation2D::operator*= </td>
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<td class="paramtype">const <a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> & </td>
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<p>Concatenates two rotations. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00092">92</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> Eigen::Rotation2D::slerp </td>
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<td class="paramtype"><a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a> </td>
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<td></td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a> & </td>
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<td>)</td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the spherical interpolation between <code>*this</code> and <em>other</em> using parameter <em>t</em>. It is in fact equivalent to a linear interpolation. </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00106">106</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a642c431d09d3b1df46fe75eb88645f79"></a><!-- doxytag: member="Eigen::Rotation2D::toRotationMatrix" ref="a642c431d09d3b1df46fe75eb88645f79" args="(void) const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation2_d.html">Rotation2D</a>< <a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a> >::<a class="el" href="class_eigen_1_1_rotation2_d.html#a1dd3542ea45dd713355d16316ba589c2">Matrix2</a> Eigen::Rotation2D::toRotationMatrix </td>
<td>(</td>
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<td> const</td>
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<p>Constructs and. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>an equivalent 2x2 rotation matrix. </dd></dl>
<p>Reimplemented from <a class="el" href="class_eigen_1_1_rotation_base.html#a8d02a5d5fcad0af9a371707250403f9b">Eigen::RotationBase< Rotation2D< _Scalar >, 2 ></a>.</p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00159">159</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a38f506f2d3617685d1f684cdbc4f8dd4"></a><!-- doxytag: member="Eigen::Rotation2D::operator*" ref="a38f506f2d3617685d1f684cdbc4f8dd4" args="(const EigenBase< OtherDerived > &l, const Derived &r)" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation_base.html#a98999cd115b5012425fb5d463a5674f6">RotationMatrixType</a> operator* </td>
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<td class="paramtype">const <a class="el" href="struct_eigen_1_1_eigen_base.html">EigenBase</a>< OtherDerived > & </td>
<td class="paramname"><em>l</em>, </td>
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<td></td>
<td class="paramtype">const Derived & </td>
<td class="paramname"><em>r</em> </td>
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<td>)</td>
<td></td><td><code> [friend, inherited]</code></td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the concatenation of a linear transformation <em>l</em> with the rotation <em>r</em> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00090">90</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a615ece720e9826703b399dfaeaba1ae0"></a><!-- doxytag: member="Eigen::Rotation2D::operator*" ref="a615ece720e9826703b399dfaeaba1ae0" args="(const DiagonalMatrix< Scalar, Dim > &l, const Derived &r)" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html">Transform</a><<a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a>,Dim,Affine> operator* </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_diagonal_matrix.html">DiagonalMatrix</a>< <a class="el" href="class_eigen_1_1_rotation_base.html#ab610d6962186e763b08357bf9b1a5b3b">Scalar</a>, Dim > & </td>
<td class="paramname"><em>l</em>, </td>
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<td class="paramtype">const Derived & </td>
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<td>)</td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the concatenation of a scaling <em>l</em> with the rotation <em>r</em> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00094">94</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a11a21041c84c3ba62e452d51f8a3af03"></a><!-- doxytag: member="Eigen::Rotation2D::m_angle" ref="a11a21041c84c3ba62e452d51f8a3af03" args="" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation2_d.html#a6f18e82316c3194f5c4dd320005f24ce">Scalar</a> <a class="el" href="class_eigen_1_1_rotation2_d.html#a11a21041c84c3ba62e452d51f8a3af03">Eigen::Rotation2D::m_angle</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00071">71</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
