Package org.robwork.sdurw
Class Rotation2Df
- java.lang.Object
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- org.robwork.sdurw.Rotation2Df
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public class Rotation2Df extends java.lang.Object
A 2x2 rotation matrix \mathbf{R}\in SO(2)
\mathbf{R}= \left[ \begin{array}{cc} {}^A\hat{X}_B {}^A\hat{Y}_B \end{array} \right] = \left[ \begin{array}{cc} r_{11} r_{12} \\ r_{21} r_{22} \end{array} \right]
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Constructor Summary
Constructors Constructor Description Rotation2Df()
A rotation matrix with uninitialized storage.Rotation2Df(float theta)
Constructs an initialized 2x2 rotation matrix
\robabx{a}{b}{\mathbf{R}} = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{i}} \robabx{a}{b}{\mathbf{j}} \end{array} \right]
Rotation2Df(float r11, float r12, float r21, float r22)
Constructs an initialized 2x2 rotation matrix
Rotation2Df(long cPtr, boolean cMemoryOwn)
Rotation2Df(Vector2Df i)
Construct an initialized 2x2 rotation matrix.
The second of column of the matrix is deduced from the first column.
Rotation2Df(Vector2Df i, Vector2Df j)
Constructs an initialized 2x2 rotation matrix
\robabx{a}{b}{\mathbf{R}} = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{i}} \robabx{a}{b}{\mathbf{j}} \end{array} \right]
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
delete()
EigenMatrix2f
e()
Returns a boost 2x2 matrix \mathbf{M}\in SO(2) that represents this rotation
boolean
equals(Rotation2Df rhs)
Comparison operator.
The comparison operator makes a element wise comparison.
Returns true only if all elements are equal.
float
get(long row, long column)
static long
getCPtr(Rotation2Df obj)
static Rotation2Df
identity()
Constructs a 2x2 rotation matrix set to identityRotation2Df
multiply(Rotation2Df bRc)
Calculates \robabx{a}{c}{\mathbf{R}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{R}}
Vector2Df
multiply(Vector2Df bVc)
Calculates \robabx{a}{c}{\mathbf{v}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{v}}
boolean
notEqual(Rotation2Df rhs)
Comparison operator.
The comparison operator makes a element wise comparison.
Returns true if any of the elements are different.
void
set(long row, long column, float d)
java.lang.String
toString()
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Constructor Detail
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Rotation2Df
public Rotation2Df(long cPtr, boolean cMemoryOwn)
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Rotation2Df
public Rotation2Df()
A rotation matrix with uninitialized storage.
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Rotation2Df
public Rotation2Df(float r11, float r12, float r21, float r22)
Constructs an initialized 2x2 rotation matrix
- Parameters:
r11
- r_{11}r12
- r_{12}r21
- r_{21}r22
- r_{22}
\mathbf{R} = \left[ \begin{array}{cc} r_{11} r_{12} \\ r_{21} r_{22} \end{array} \right]
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Rotation2Df
public Rotation2Df(Vector2Df i, Vector2Df j)
Constructs an initialized 2x2 rotation matrix
\robabx{a}{b}{\mathbf{R}} = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{i}} \robabx{a}{b}{\mathbf{j}} \end{array} \right]
- Parameters:
i
- \robabx{a}{b}{\mathbf{i}}j
- \robabx{a}{b}{\mathbf{j}}
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Rotation2Df
public Rotation2Df(float theta)
Constructs an initialized 2x2 rotation matrix
\robabx{a}{b}{\mathbf{R}} = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{i}} \robabx{a}{b}{\mathbf{j}} \end{array} \right]
- Parameters:
theta
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Rotation2Df
public Rotation2Df(Vector2Df i)
Construct an initialized 2x2 rotation matrix.
The second of column of the matrix is deduced from the first column.
- Parameters:
i
- [in] The first column of the rotation matrix.
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Method Detail
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getCPtr
public static long getCPtr(Rotation2Df obj)
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delete
public void delete()
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identity
public static Rotation2Df identity()
Constructs a 2x2 rotation matrix set to identity- Returns:
- a 2x2 identity rotation matrix
\mathbf{R} = \left[ \begin{array}{cc} 1 0\\ 0 1 \end{array} \right]
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equals
public boolean equals(Rotation2Df rhs)
Comparison operator.
The comparison operator makes a element wise comparison.
Returns true only if all elements are equal.
- Parameters:
rhs
- [in] Rotation2D to compare with- Returns:
- True if equal.
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notEqual
public boolean notEqual(Rotation2Df rhs)
Comparison operator.
The comparison operator makes a element wise comparison.
Returns true if any of the elements are different.
- Parameters:
rhs
- [in] Rotation2D to compare with- Returns:
- True if not equal.
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e
public EigenMatrix2f e()
Returns a boost 2x2 matrix \mathbf{M}\in SO(2) that represents this rotation
- Returns:
- \mathbf{M}\in SO(2)
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multiply
public Rotation2Df multiply(Rotation2Df bRc)
Calculates \robabx{a}{c}{\mathbf{R}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{R}}
- Parameters:
bRc
- [in] \robabx{b}{c}{\mathbf{R}}
- Returns:
- \robabx{a}{c}{\mathbf{R}}
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multiply
public Vector2Df multiply(Vector2Df bVc)
Calculates \robabx{a}{c}{\mathbf{v}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{v}}
- Parameters:
bVc
- [in] \robabx{b}{c}{\mathbf{v}}- Returns:
- \robabx{a}{c}{\mathbf{v}}
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toString
public java.lang.String toString()
- Overrides:
toString
in classjava.lang.Object
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get
public float get(long row, long column)
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set
public void set(long row, long column, float d)
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