diff options
Diffstat (limited to 'eigen/Eigen/src/Geometry/Rotation2D.h')
| -rw-r--r-- | eigen/Eigen/src/Geometry/Rotation2D.h | 85 |
1 files changed, 62 insertions, 23 deletions
diff --git a/eigen/Eigen/src/Geometry/Rotation2D.h b/eigen/Eigen/src/Geometry/Rotation2D.h index a2d59fc..884b7d0 100644 --- a/eigen/Eigen/src/Geometry/Rotation2D.h +++ b/eigen/Eigen/src/Geometry/Rotation2D.h @@ -18,7 +18,7 @@ namespace Eigen { * * \brief Represents a rotation/orientation in a 2 dimensional space. * - * \param _Scalar the scalar type, i.e., the type of the coefficients + * \tparam _Scalar the scalar type, i.e., the type of the coefficients * * This class is equivalent to a single scalar representing a counter clock wise rotation * as a single angle in radian. It provides some additional features such as the automatic @@ -59,41 +59,79 @@ protected: public: /** Construct a 2D counter clock wise rotation from the angle \a a in radian. */ - inline Rotation2D(const Scalar& a) : m_angle(a) {} + EIGEN_DEVICE_FUNC explicit inline Rotation2D(const Scalar& a) : m_angle(a) {} /** Default constructor wihtout initialization. The represented rotation is undefined. */ - Rotation2D() {} + EIGEN_DEVICE_FUNC Rotation2D() {} + + /** Construct a 2D rotation from a 2x2 rotation matrix \a mat. + * + * \sa fromRotationMatrix() + */ + template<typename Derived> + EIGEN_DEVICE_FUNC explicit Rotation2D(const MatrixBase<Derived>& m) + { + fromRotationMatrix(m.derived()); + } /** \returns the rotation angle */ - inline Scalar angle() const { return m_angle; } + EIGEN_DEVICE_FUNC inline Scalar angle() const { return m_angle; } /** \returns a read-write reference to the rotation angle */ - inline Scalar& angle() { return m_angle; } + EIGEN_DEVICE_FUNC inline Scalar& angle() { return m_angle; } + + /** \returns the rotation angle in [0,2pi] */ + EIGEN_DEVICE_FUNC inline Scalar smallestPositiveAngle() const { + Scalar tmp = numext::fmod(m_angle,Scalar(2*EIGEN_PI)); + return tmp<Scalar(0) ? tmp + Scalar(2*EIGEN_PI) : tmp; + } + + /** \returns the rotation angle in [-pi,pi] */ + EIGEN_DEVICE_FUNC inline Scalar smallestAngle() const { + Scalar tmp = numext::fmod(m_angle,Scalar(2*EIGEN_PI)); + if(tmp>Scalar(EIGEN_PI)) tmp -= Scalar(2*EIGEN_PI); + else if(tmp<-Scalar(EIGEN_PI)) tmp += Scalar(2*EIGEN_PI); + return tmp; + } /** \returns the inverse rotation */ - inline Rotation2D inverse() const { return -m_angle; } + EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); } /** Concatenates two rotations */ - inline Rotation2D operator*(const Rotation2D& other) const - { return m_angle + other.m_angle; } + EIGEN_DEVICE_FUNC inline Rotation2D operator*(const Rotation2D& other) const + { return Rotation2D(m_angle + other.m_angle); } /** Concatenates two rotations */ - inline Rotation2D& operator*=(const Rotation2D& other) + EIGEN_DEVICE_FUNC inline Rotation2D& operator*=(const Rotation2D& other) { m_angle += other.m_angle; return *this; } /** Applies the rotation to a 2D vector */ - Vector2 operator* (const Vector2& vec) const + EIGEN_DEVICE_FUNC Vector2 operator* (const Vector2& vec) const { return toRotationMatrix() * vec; } template<typename Derived> - Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m); - Matrix2 toRotationMatrix() const; + EIGEN_DEVICE_FUNC Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m); + EIGEN_DEVICE_FUNC Matrix2 toRotationMatrix() const; + + /** Set \c *this from a 2x2 rotation matrix \a mat. + * In other words, this function extract the rotation angle from the rotation matrix. + * + * This method is an alias for fromRotationMatrix() + * + * \sa fromRotationMatrix() + */ + template<typename Derived> + EIGEN_DEVICE_FUNC Rotation2D& operator=(const MatrixBase<Derived>& m) + { return fromRotationMatrix(m.derived()); } /** \returns the spherical interpolation between \c *this and \a other using * parameter \a t. It is in fact equivalent to a linear interpolation. */ - inline Rotation2D slerp(const Scalar& t, const Rotation2D& other) const - { return m_angle * (1-t) + other.angle() * t; } + EIGEN_DEVICE_FUNC inline Rotation2D slerp(const Scalar& t, const Rotation2D& other) const + { + Scalar dist = Rotation2D(other.m_angle-m_angle).smallestAngle(); + return Rotation2D(m_angle + dist*t); + } /** \returns \c *this with scalar type casted to \a NewScalarType * @@ -101,24 +139,25 @@ public: * then this function smartly returns a const reference to \c *this. */ template<typename NewScalarType> - inline typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast() const + EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast() const { return typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type(*this); } /** Copy constructor with scalar type conversion */ template<typename OtherScalarType> - inline explicit Rotation2D(const Rotation2D<OtherScalarType>& other) + EIGEN_DEVICE_FUNC inline explicit Rotation2D(const Rotation2D<OtherScalarType>& other) { m_angle = Scalar(other.angle()); } - static inline Rotation2D Identity() { return Rotation2D(0); } + EIGEN_DEVICE_FUNC static inline Rotation2D Identity() { return Rotation2D(0); } /** \returns \c true if \c *this is approximately equal to \a other, within the precision * determined by \a prec. * * \sa MatrixBase::isApprox() */ - bool isApprox(const Rotation2D& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const + EIGEN_DEVICE_FUNC bool isApprox(const Rotation2D& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const { return internal::isApprox(m_angle,other.m_angle, prec); } + }; /** \ingroup Geometry_Module @@ -134,9 +173,9 @@ typedef Rotation2D<double> Rotation2Dd; */ template<typename Scalar> template<typename Derived> -Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat) +EIGEN_DEVICE_FUNC Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat) { - using std::atan2; + EIGEN_USING_STD_MATH(atan2) EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==2 && Derived::ColsAtCompileTime==2,YOU_MADE_A_PROGRAMMING_MISTAKE) m_angle = atan2(mat.coeff(1,0), mat.coeff(0,0)); return *this; @@ -146,10 +185,10 @@ Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Deri */ template<typename Scalar> typename Rotation2D<Scalar>::Matrix2 -Rotation2D<Scalar>::toRotationMatrix(void) const +EIGEN_DEVICE_FUNC Rotation2D<Scalar>::toRotationMatrix(void) const { - using std::sin; - using std::cos; + EIGEN_USING_STD_MATH(sin) + EIGEN_USING_STD_MATH(cos) Scalar sinA = sin(m_angle); Scalar cosA = cos(m_angle); return (Matrix2() << cosA, -sinA, sinA, cosA).finished(); |