KDL::Rotation2 Class Reference

A 2D Rotation class, for conventions see Rotation. For further documentation of the methods see Rotation class. More...

#include <frames.hpp>

Public Member Functions
	Rotation2 ()
	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.
	Rotation2 (double angle_rad)
	Rotation2 (double ca, double sa)
Rotation2 &	operator= (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.

Friends
Rotation2	operator* (const Rotation2 &lhs, const Rotation2 &rhs)
bool	Equal (const Rotation2 &a, const Rotation2 &b, double eps=epsilon)
	do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Detailed Description

A 2D Rotation class, for conventions see Rotation. For further documentation of the methods see Rotation class.

Definition at line 989 of file frames.hpp.

Constructor & Destructor Documentation

Rotation2() [1/3]

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().

Definition at line 996 of file frames.hpp.

Rotation2() [2/3]

KDL::Rotation2::Rotation2 ( double angle_rad )

inlineexplicit

Definition at line 998 of file frames.hpp.

References KDL::cos(), and KDL::sin().

Rotation2() [3/3]

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

inline

Definition at line 1000 of file frames.hpp.

Member Function Documentation

GetRot()

IMETHOD double Rotation2::GetRot ( ) const

inline

Gets the angle (in radians).

Definition at line 941 of file frames.hpp.

References rhs.

Identity()

IMETHOD Rotation2 Rotation2::Identity ( )

inlinestatic

Definition at line 923 of file frames.hpp.

Inverse() [1/2]

IMETHOD Rotation2 Rotation2::Inverse ( ) const

inline

Definition at line 915 of file frames.hpp.

References iTaSC::Vector2::Vector2().

Inverse() [2/2]

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

inline

Definition at line 919 of file frames.hpp.

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.

Definition at line 897 of file frames.hpp.

References b, and eps.

operator*()

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

inline

Definition at line 893 of file frames.hpp.

operator=()

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

inline

Definition at line 888 of file frames.hpp.

Rot()

IMETHOD Rotation2 Rotation2::Rot ( double angle )

inlinestatic

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

Definition at line 937 of file frames.hpp.

Referenced by KDL::operator>>().

SetIdentity()

IMETHOD void Rotation2::SetIdentity ( )

inline

Definition at line 927 of file frames.hpp.

SetInverse()

IMETHOD void Rotation2::SetInverse ( )

inline

Definition at line 911 of file frames.hpp.

SetRot()

IMETHOD void Rotation2::SetRot ( double angle )

inline

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

Definition at line 933 of file frames.hpp.

References xy.

Friends And Related Symbol Documentation

Equal

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

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

Definition at line 1096 of file frames.hpp.

operator*

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

friend

Definition at line 907 of file frames.hpp.

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

• frames.hpp
• frames.inl