A 2D Rotation class, for conventions see Rotation. More...
#include <frames.hpp>
Public Member Functions | |
| double | GetRot () const |
| Gets the angle (in radians). | |
| Vector2 | Inverse (const Vector2 &v) const |
| Rotation2 | Inverse () const |
| double | operator() (int i, int j) const |
| Access to elements 0..1,0..1, bounds are checked when NDEBUG is not set. | |
| Vector2 | operator* (const Vector2 &v) const |
| Rotation2 & | operator= (const Rotation2 &arg) |
| Rotation2 (double ca, double sa) | |
| Rotation2 (double angle_rad) | |
| Rotation2 () | |
| c,s represent cos(angle), sin(angle), this also represents first col. | |
| void | SetIdentity () |
| void | SetInverse () |
| void | SetRot (double angle) |
| The SetRot.. functions set the value of *this to the appropriate rotation matrix. | |
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 | |
| bool | Equal (const Rotation2 &a, const Rotation2 &b, double eps=epsilon) |
| do not use operator == because the definition of Equal(.,. | |
| Rotation2 | operator* (const Rotation2 &lhs, const Rotation2 &rhs) |
A 2D Rotation class, for conventions see Rotation.
For further documentation of the methods see Rotation class.
Definition at line 998 of file frames.hpp.
| 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 1005 of file frames.hpp.
Referenced by Identity(), Inverse(), and Rot().
| KDL::Rotation2::Rotation2 | ( | double | angle_rad | ) | [inline, explicit] |
Definition at line 1007 of file frames.hpp.
| KDL::Rotation2::Rotation2 | ( | double | ca, | |
| double | sa | |||
| ) | [inline] |
Definition at line 1009 of file frames.hpp.
| double KDL::Rotation2::GetRot | ( | ) | const [inline] |
| Rotation2 KDL::Rotation2::Identity | ( | ) | [inline, static] |
Definition at line 874 of file frames.inl.
References Rotation2().
Definition at line 870 of file frames.inl.
| Rotation2 KDL::Rotation2::Inverse | ( | ) | const [inline] |
Definition at line 866 of file frames.inl.
References Rotation2().
Referenced by KDL::Frame2::Inverse().
| double KDL::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 848 of file frames.inl.
References FRAMES_CHECKI.
Definition at line 844 of file frames.inl.
Definition at line 839 of file frames.inl.
| Rotation2 KDL::Rotation2::Rot | ( | double | angle | ) | [inline, static] |
The Rot... static functions give the value of the appropriate rotation matrix bac.
Definition at line 888 of file frames.inl.
References KDL::cos(), Rotation2(), and KDL::sin().
| void KDL::Rotation2::SetIdentity | ( | ) | [inline] |
Definition at line 878 of file frames.inl.
Referenced by KDL::Frame2::SetIdentity().
| void KDL::Rotation2::SetInverse | ( | ) | [inline] |
Definition at line 862 of file frames.inl.
Referenced by KDL::Frame2::SetInverse().
| void KDL::Rotation2::SetRot | ( | double | angle | ) | [inline] |
The SetRot.. functions set the value of *this to the appropriate rotation matrix.
Definition at line 884 of file frames.inl.
References KDL::cos(), and KDL::sin().
do not use operator == because the definition of Equal(.,.
) is slightly different. It compares whether the 2 arguments are equal in an eps-interval
1.6.1