trajopt::Rotation2< T > Class Template Reference

#include <trajopt/geometry/rotation2.hpp>

Public Member Functions
constexpr	Rotation2 ()=default
	Constructs a rotation with a default angle of 0 degrees.
constexpr	Rotation2 (const T &angle)
constexpr	Rotation2 (T cos, T sin)
constexpr	Rotation2 (double x, double y)
template<typename U>
constexpr	Rotation2 (const Rotation2< U > &other)
constexpr Rotation2< T >	operator+ (const Rotation2< T > &other) const
constexpr Rotation2< T >	operator- (const Rotation2< T > &other) const
constexpr Rotation2< T >	operator- () const
template<typename U>
constexpr Rotation2< U >	rotate_by (const Rotation2< U > &other) const
constexpr T	radians () const
constexpr T	degrees () const
constexpr const T &	cos () const
constexpr const T &	sin () const

Detailed Description

template<typename T>
class trajopt::Rotation2< T >

A rotation in a 2D coordinate frame represented by a point on the unit circle (cosine and sine).

Constructor & Destructor Documentation

Rotation2() [1/4]

template<typename T>

trajopt::Rotation2< T >::Rotation2 ( const T & angle )

inlineconstexpr

Constructs a rotation with the given angle.

Parameters

angle

The angle in radians.

Rotation2() [2/4]

template<typename T>

trajopt::Rotation2< T >::Rotation2 ( T cos, T sin )

inlineconstexpr

Constructs a rotation with the given cosine and sine components.

Parameters

cos	The cosine component of the rotation.
sin	The sine component of the rotation.

Rotation2() [3/4]

template<typename T>

trajopt::Rotation2< T >::Rotation2 ( double x, double y )

inlineconstexpr

Constructs a rotation with the given x and y components. The x and y don't have to be normalized.

Parameters

x	The x component of the rotation.
y	The y component of the rotation.

Rotation2() [4/4]

template<typename T>

template<typename U>

trajopt::Rotation2< T >::Rotation2 ( const Rotation2< U > & other )

inlineexplicitconstexpr

Coerces one rotation type into another.

Parameters

other

The other rotation type.

Member Function Documentation

cos()

template<typename T>

const T & trajopt::Rotation2< T >::cos ( ) const

inlineconstexpr

Returns the cosine of the rotation.

Returns

The cosine of the rotation.

degrees()

template<typename T>

T trajopt::Rotation2< T >::degrees ( ) const

inlineconstexpr

Returns the rotation as an Euler angle in degrees.

Returns

The Euler angle in degrees.

operator+()

template<typename T>

Rotation2< T > trajopt::Rotation2< T >::operator+ ( const Rotation2< T > & other ) const

inlineconstexpr

Adds two rotations together, with the result being bounded between -pi and pi.

Parameters

other

The rotation to add.

Returns

The sum of the two rotations.

operator-() [1/2]

template<typename T>

Rotation2< T > trajopt::Rotation2< T >::operator- ( ) const

inlineconstexpr

Takes the inverse of the current rotation.

Returns

The inverse of the current rotation.

operator-() [2/2]

template<typename T>

Rotation2< T > trajopt::Rotation2< T >::operator- ( const Rotation2< T > & other ) const

inlineconstexpr

Subtracts the new rotation from the current rotation and returns the new rotation.

Parameters

other

The rotation to subtract.

Returns

The difference between the two rotations.

radians()

template<typename T>

T trajopt::Rotation2< T >::radians ( ) const

inlineconstexpr

Returns the rotation as an Euler angle in radians.

Returns

The Euler angle in radians.

rotate_by()

template<typename T>

template<typename U>

Rotation2< U > trajopt::Rotation2< T >::rotate_by ( const Rotation2< U > & other ) const

inlineconstexpr

Adds the new rotation to the current rotation using a clockwise rotation matrix.

Parameters

other

The rotation to rotate by.

Returns

The new rotated rotation.

sin()

template<typename T>

const T & trajopt::Rotation2< T >::sin ( ) const

inlineconstexpr

Returns the sine of the rotation.

Returns

The sine of the rotation.

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

• include/trajopt/geometry/rotation2.hpp