Class to represent a two-dimensional rotation matrix. More...

#include <so2.h>

Public Member Functions
	SO2 (const Operator< Internal::Identity< Internal::One > > &)
	Default constructor. Initialises the matrix to the identity (no rotation)

	SO2 (const Matrix< 2, 2, Precision > &rhs)
	Construct from a rotation matrix.

	SO2 (const Precision l)
	Construct from an angle.

template<int R, int C, typename P , typename A >
SO2 &	operator= (const Matrix< R, C, P, A > &rhs)
	Assigment operator from a general matrix. More...

void	coerce ()
	Modifies the matrix to make sure it is a valid rotation matrix.

Precision	ln () const
	extracts the rotation angle from the SO2

SO2	inverse () const
	Returns the inverse of this matrix (=the transpose, so this is a fast operation)

template<typename P >
SO2 &	operator*= (const SO2< P > &rhs)
	Self right-multiply by another rotation matrix.

template<typename P >
SO2< typename Internal::MultiplyType< Precision, P >::type >	operator* (const SO2< P > &rhs) const
	Right-multiply by another rotation matrix.

const Matrix< 2, 2, Precision > &	get_matrix () const
	Returns the SO2 as a Matrix<2>

Static Public Member Functions
static SO2	exp (const Precision &d)
	Exponentiate an angle in the Lie algebra to generate a new SO2.

static Matrix< 2, 2, Precision >	generator ()
	returns generator matrix

Friends
std::istream &	operator>> (std::istream &, SO2 &)

std::istream &	operator>> (std::istream &, SE2< Precision > &)

std::istream &	operator>> (std::istream &, SIM2< Precision > &)

Related Functions
(Note that these are not member functions.)
template<typename Precision >
SE2< Precision >	operator* (const SO2< Precision > &lhs, const SE2< Precision > &rhs)
	Multiply a SO2 with and SE2.

template<typename Precision >
std::ostream &	operator<< (std::ostream &os, const SO2< Precision > &rhs)
	Write an SO2 to a stream. More...

template<typename Precision >
std::istream &	operator>> (std::istream &is, SO2< Precision > &rhs)
	Read from SO2 to a stream. More...

template<int D, typename P1 , typename PV , typename Accessor >
Vector< 2, typename Internal::MultiplyType< P1, PV >::type >	operator* (const SO2< P1 > &lhs, const Vector< D, PV, Accessor > &rhs)
	Right-multiply by a Vector. More...

template<int D, typename P1 , typename PV , typename Accessor >
Vector< 2, typename Internal::MultiplyType< PV, P1 >::type >	operator* (const Vector< D, PV, Accessor > &lhs, const SO2< P1 > &rhs)
	Left-multiply by a Vector. More...

template<int R, int C, typename P1 , typename P2 , typename Accessor >
Matrix< 2, C, typename Internal::MultiplyType< P1, P2 >::type >	operator* (const SO2< P1 > &lhs, const Matrix< R, C, P2, Accessor > &rhs)
	Right-multiply by a Matrix. More...

template<int R, int C, typename P1 , typename P2 , typename Accessor >
Matrix< R, 2, typename Internal::MultiplyType< P1, P2 >::type >	operator* (const Matrix< R, C, P1, Accessor > &lhs, const SO2< P2 > &rhs)
	Left-multiply by a Matrix. More...

Detailed Description

template<typename Precision = DefaultPrecision>
class TooN::SO2< Precision >

Class to represent a two-dimensional rotation matrix.

Two-dimensional rotation matrices are members of the Special Orthogonal Lie group SO2. This group can be parameterised with one number (the rotation angle).

Member Function Documentation

◆ operator=()

template<typename Precision = DefaultPrecision>

template<int R, int C, typename P , typename A >

SO2& TooN::SO2< Precision >::operator= ( const Matrix< R, C, P, A > & rhs )

inline

Assigment operator from a general matrix.

This also calls coerce() to make sure that the matrix is a valid rotation matrix.

Friends And Related Function Documentation

◆ operator*() [1/4]

template<int D, typename P1 , typename PV , typename Accessor >

Vector< 2, typename Internal::MultiplyType< P1, PV >::type > operator*	(	const SO2< P1 > &	lhs,
		const Vector< D, PV, Accessor > &	rhs
	)

◆ operator*() [2/4]

template<int D, typename P1 , typename PV , typename Accessor >

Vector< 2, typename Internal::MultiplyType< PV, P1 >::type > operator*	(	const Vector< D, PV, Accessor > &	lhs,
		const SO2< P1 > &	rhs
	)

◆ operator*() [3/4]

template<int R, int C, typename P1 , typename P2 , typename Accessor >

Matrix< 2, C, typename Internal::MultiplyType< P1, P2 >::type > operator*	(	const SO2< P1 > &	lhs,
		const Matrix< R, C, P2, Accessor > &	rhs
	)

◆ operator*() [4/4]

template<int R, int C, typename P1 , typename P2 , typename Accessor >

Matrix< R, 2, typename Internal::MultiplyType< P1, P2 >::type > operator*	(	const Matrix< R, C, P1, Accessor > &	lhs,
		const SO2< P2 > &	rhs
	)

◆ operator<<()

template<typename Precision >

std::ostream & operator<<	(	std::ostream &	os,
		const SO2< Precision > &	rhs
	)

◆ operator>>()

template<typename Precision >

std::istream & operator>>	(	std::istream &	is,
		SO2< Precision > &	rhs
	)

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

TooN/so2.h
TooN/se2.h

Public Member Functions

Static Public Member Functions

Friends

Related Functions