KDL 1.5.1
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Public Member Functions | Static Public Member Functions | Private Attributes | Friends | List of all members
KDL::Rotation2 Class Reference

A 2D Rotation class, for conventions see Rotation. More...

#include <src/frames.hpp>

Public Member Functions

 Rotation2 ()
 c,s represent cos(angle), sin(angle), this also represents first col.
 
 Rotation2 (double angle_rad)
 
 Rotation2 (double ca, double sa)
 
 Rotation2 (const Rotation2 &arg)
 
Rotation2operator= (const Rotation2 &arg)
 
Vector2 operator* (const Vector2 &v) const
 
double operator() (int i, int j) const
 Access to elements 0..1,0..1, bounds are checked when NDEBUG is not set.
 
void SetInverse ()
 
Rotation2 Inverse () const
 
Vector2 Inverse (const Vector2 &v) const
 
void SetIdentity ()
 
void SetRot (double angle)
 The SetRot.. functions set the value of *this to the appropriate rotation matrix.
 
double GetRot () const
 Gets the angle (in radians)
 

Static Public Member Functions

static Rotation2 Identity ()
 
static Rotation2 Rot (double angle)
 The Rot... static functions give the value of the appropriate rotation matrix bac.
 

Private Attributes

double s
 
double c
 

Friends

Rotation2 operator* (const Rotation2 &lhs, const Rotation2 &rhs)
 
bool Equal (const Rotation2 &a, const Rotation2 &b, double eps)
 do not use operator == because the definition of Equal(.,.) is slightly different.
 

Detailed Description

A 2D Rotation class, for conventions see Rotation.

For further documentation of the methods see Rotation class.

Constructor & Destructor Documentation

◆ Rotation2() [1/4]

KDL::Rotation2::Rotation2 ( )
inline

c,s represent cos(angle), sin(angle), this also represents first col.

of rot matrix from outside, this class behaves as if it would store the complete 2x2 matrix. Default constructor does NOT initialise to Zero().

References c, and s.

Referenced by Identity(), Inverse(), and Rot().

◆ Rotation2() [2/4]

KDL::Rotation2::Rotation2 ( double angle_rad)
inlineexplicit

◆ Rotation2() [3/4]

KDL::Rotation2::Rotation2 ( double ca,
double sa )
inline

◆ Rotation2() [4/4]

IMETHOD Rotation2::Rotation2 ( const Rotation2 & arg)

References c, and s.

Member Function Documentation

◆ GetRot()

IMETHOD double Rotation2::GetRot ( ) const
inline

Gets the angle (in radians)

References c, and s.

Referenced by KDL::operator<<().

◆ Identity()

IMETHOD Rotation2 Rotation2::Identity ( )
inlinestatic

References Rotation2().

Referenced by KDL::Frame2::Frame2().

◆ Inverse() [1/2]

IMETHOD Rotation2 Rotation2::Inverse ( ) const
inline

References c, Rotation2(), and s.

Referenced by KDL::Frame2::Inverse().

◆ Inverse() [2/2]

IMETHOD Vector2 Rotation2::Inverse ( const Vector2 & v) const
inline

References c, KDL::Vector2::data, and s.

◆ operator()()

IMETHOD double Rotation2::operator() ( int i,
int j ) const
inline

Access to elements 0..1,0..1, bounds are checked when NDEBUG is not set.

References c, and s.

◆ operator*()

IMETHOD Vector2 Rotation2::operator* ( const Vector2 & v) const
inline

References c, KDL::Vector2::data, and s.

◆ operator=()

IMETHOD Rotation2 & Rotation2::operator= ( const Rotation2 & arg)
inline

References c, and s.

◆ Rot()

IMETHOD Rotation2 Rotation2::Rot ( double angle)
inlinestatic

The Rot... static functions give the value of the appropriate rotation matrix bac.

References Rotation2().

Referenced by KDL::operator>>().

◆ SetIdentity()

IMETHOD void Rotation2::SetIdentity ( )
inline

References c, and s.

Referenced by KDL::Frame2::SetIdentity().

◆ SetInverse()

IMETHOD void Rotation2::SetInverse ( )
inline

References s.

Referenced by KDL::Frame2::SetInverse().

◆ SetRot()

IMETHOD void Rotation2::SetRot ( double angle)
inline

The SetRot.. functions set the value of *this to the appropriate rotation matrix.

References c, and s.

Friends And Related Symbol Documentation

◆ Equal

bool Equal ( const Rotation2 & a,
const Rotation2 & b,
double eps )
friend

do not use operator == because the definition of Equal(.,.) is slightly different.

It compares whether the 2 arguments are equal in an eps-interval

◆ operator*

Rotation2 operator* ( const Rotation2 & lhs,
const Rotation2 & rhs )
friend

Member Data Documentation

◆ c

double KDL::Rotation2::c
private

◆ s

double KDL::Rotation2::s
private

The documentation for this class was generated from the following files: