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 (const Rotation2 &arg)
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.

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().

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 KDL::Rotation2::Rotation2

(

const Rotation2 &

arg

)

Member Function Documentation

GetRot()

IMETHOD double KDL::Rotation2::GetRot ( ) const

inline

Gets the angle (in radians).

Identity()

IMETHOD Rotation2 KDL::Rotation2::Identity ( )

inlinestatic

Inverse() [1/2]

IMETHOD Rotation2 KDL::Rotation2::Inverse ( ) const

inline

Inverse() [2/2]

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

inline

operator()()

IMETHOD 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.

operator*()

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

inline

operator=()

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

inline

Rot()

IMETHOD Rotation2 KDL::Rotation2::Rot ( double angle )

inlinestatic

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

SetIdentity()

IMETHOD void KDL::Rotation2::SetIdentity ( )

inline

SetInverse()

IMETHOD void KDL::Rotation2::SetInverse ( )

inline

SetRot()

IMETHOD void KDL::Rotation2::SetRot ( double angle )

inline

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

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

operator*

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

friend

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

• build/orocos_kdl_install/include/kdl/frames.hpp