Rotation2d Class Reference

#include <rotation2d.h>

Public Member Functions
constexpr	Rotation2d ()
	Rotation2d (const double &radians)
	Rotation2d (const double &x, const double &y)
	Rotation2d (const Translation2d &translation)
double	radians () const
double	degrees () const
double	revolutions () const
double	f_cos () const
double	f_sin () const
double	f_tan () const
Eigen::Matrix2d	rotation_matrix () const
double	wrapped_radians_180 () const
double	wrapped_degrees_180 () const
double	wrapped_revolutions_180 () const
double	wrapped_radians_360 () const
double	wrapped_degrees_360 () const
double	wrapped_revolutions_360 () const
Rotation2d	operator+ (const Rotation2d &other) const
Rotation2d	operator- (const Rotation2d &other) const
Rotation2d	operator- () const
Rotation2d	operator* (const double &scalar) const
Rotation2d	operator/ (const double &scalar) const
bool	operator== (const Rotation2d &other) const

Friends
std::ostream &	operator<< (std::ostream &os, const Rotation2d &rotation)

Detailed Description

Class representing a rotation in 2d space. Stores theta in radians, as well as cos and sin.

Internally this angle is stored continuously, however there are functions that return wrapped angles: "180" is from [-pi, pi), [-180, 180), [-0.5, 0.5) "360" is from [0, 2pi), [0, 360), [0, 1)

Constructor & Destructor Documentation

Rotation2d() [1/4]

Rotation2d::Rotation2d ( )

inlineconstexpr

Default Constructor for Rotation2d

Rotation2d() [2/4]

Rotation2d::Rotation2d

(

const double &

radians

)

Constructs a rotation with the given value in radians.

Parameters

radians

the value of the rotation in radians.

Rotation2d() [3/4]

Rotation2d::Rotation2d	(	const double &	x,
		const double &	y )

Constructs a rotation given x and y values. Does not have to be normalized. The angle from the x axis to the point.

[theta] = [atan2(y, x)]

Parameters

x	the x value of the point
y	the y value of the point

Rotation2d() [4/4]

Rotation2d::Rotation2d

(

const Translation2d &

translation

)

Constructs a rotation given x and y values in the form of a Translation2d. Does not have to be normalized. The angle from the x axis to the point.

[theta] = [atan2(y, x)]

Parameters

translation

Member Function Documentation

degrees()

double Rotation2d::degrees

(

)

const

Returns the degree angle value.

Returns

the degree angle value.

f_cos()

double Rotation2d::f_cos

(

)

const

Returns the cosine of the angle value.

Returns

the cosine of the angle value

f_sin()

double Rotation2d::f_sin

(

)

const

Returns the sine of the angle value.

Returns

the sine of the angle value.

f_tan()

double Rotation2d::f_tan

(

)

const

Returns the tangent of the angle value.

Returns

the tangent of the angle value.

operator*()

Rotation2d Rotation2d::operator*

(

const double &

scalar

)

const

Multiplies this rotation by a scalar.

Parameters

scalar

the scalar value to multiply the rotation by.

Returns

the rotation multiplied by the scalar.

operator+()

Rotation2d Rotation2d::operator+

(

const Rotation2d &

other

)

const

Adds the values of two rotations using a rotation matrix

[new_cos] = [other.cos, -other.sin][cos] [new_sin] = [other.sin, other.cos][sin] new_value = atan2(new_sin, new_cos)

Parameters

other

the other rotation to add to this rotation.

Returns

the sum of the two rotations.

Adds the values of two rotations using a rotation matrix.

[new_cos] = [other.cos, -other.sin][cos] [new_sin] = [other.sin, other.cos][sin] new_value = atan2(new_sin, new_cos)

Parameters

other

the other rotation to add to this rotation.

Returns

the sum of the two rotations.

operator-() [1/2]

Rotation2d Rotation2d::operator-

(

)

const

Takes the inverse of this rotation by flipping it. Equivalent to adding 180 degrees.

Returns

this inverse of the rotation.

Takes the inverse of this rotation by flipping it.

Returns

this inverse of the rotation.

operator-() [2/2]

Rotation2d Rotation2d::operator-

(

const Rotation2d &

other

)

const

Subtracts the values of two rotations.

Parameters

other

the other rotation to subtract from this rotation.

Returns

the difference between the two rotations.

operator/()

Rotation2d Rotation2d::operator/

(

const double &

scalar

)

const

Divides this rotation by a scalar.

Parameters

scalar

the scalar value to divide the rotation by.

Returns

the rotation divided by the scalar.

operator==()

bool Rotation2d::operator==

(

const Rotation2d &

other

)

const

Compares two rotations. Returns true if their values are within 1e-9 radians of each other, to account for floating point error.

Parameters

other

the other rotation to compare to

Returns

whether the values of the rotations are within 1e-9 radians of each other

radians()

double Rotation2d::radians

(

)

const

Returns the radian angle value.

Returns

the radian angle value.

revolutions()

double Rotation2d::revolutions

(

)

const

Returns the revolution angle value.

Returns

the revolution angle value.

rotation_matrix()

Eigen::Matrix2d Rotation2d::rotation_matrix

(

)

const

Returns the rotation matrix equivalent to this rotation [cos, -sin] R = [sin, cos]

Returns

the rotation matrix equivalent to this rotation

wrapped_degrees_180()

double Rotation2d::wrapped_degrees_180

(

)

const

Returns the degree angle value, wrapped from [-180, 180).

Returns

the degree angle value, wrapped from [-180, 180)

wrapped_degrees_360()

double Rotation2d::wrapped_degrees_360

(

)

const

Returns the degree angle value, wrapped from [0, 360).

Returns

the degree angle value, wrapped from [0, 360)

wrapped_radians_180()

double Rotation2d::wrapped_radians_180

(

)

const

Returns the radian angle value, wrapped from [-pi, pi).

Returns

the radian angle value, wrapped from [-pi, pi)

wrapped_radians_360()

double Rotation2d::wrapped_radians_360

(

)

const

Returns the radian angle value, wrapped from [0, 2pi).

Returns

the radian angle value, wrapped from [0, 2pi)

wrapped_revolutions_180()

double Rotation2d::wrapped_revolutions_180

(

)

const

Returns the revolution angle value, wrapped from [-0.5, 0.5).

Returns

the revolution angle value, wrapped from [-0.5, 0.5)

wrapped_revolutions_360()

double Rotation2d::wrapped_revolutions_360

(

)

const

Returns the revolution angle value, wrapped from [0, 1).

Returns

the revolution angle value, wrapped from [0, 1)

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream & os, const Rotation2d & rotation )

friend

Sends a rotation to an output stream. Ex. std::cout << rotation;

prints "Rotation2d[rad: (radians), deg: (degrees)]"

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

• rotation2d.h
• rotation2d.cpp