Package org.robwork.sdurw_math

Class Rotation2D

  • public class Rotation2D
extends java.lang.Object

    • Constructor Summary

      Constructors 
      Constructor Description
      Rotation2D()
      A rotation matrix with uninitialized storage.
      Rotation2D​(double theta)  
      Rotation2D​(double r11, double r12, double r21, double r22)  
      Rotation2D​(long cPtr, boolean cMemoryOwn)  
      Rotation2D​(Vector2D i)
      Construct an initialized 2x2 rotation matrix.

      The second of column of the matrix is deduced from the first column.
      Rotation2D​(Vector2D i, Vector2D j)  

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void delete()  
      SWIGTYPE_p_Eigen__Rotation2DT_double_t e()
      Returns a Eigen 2x2 matrix \mathbf{M}\in SO(2) that represents this rotation
      boolean equals​(Rotation2D rhs)
      Comparison operator.

      The comparison operator makes a element wise comparison.
      Returns true only if all elements are equal.
      double get​(long row, long column)  
      static long getCPtr​(Rotation2D obj)  
      static Rotation2D identity()  
      Rotation2D multiply​(Rotation2D bRc)
      Calculates \robabx{a}{c}{\mathbf{R}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{R}}
      where this object is \robabx{a}{b}{\mathbf{R}} .
      Vector2D multiply​(Vector2D bVc)
      Calculates \robabx{a}{c}{\mathbf{v}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{v}}
      where this object is \robabx{a}{b}{\mathbf{R}} .
      boolean notEqual​(Rotation2D 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, double d)  
      java.lang.String toString()  

      • Methods inherited from class java.lang.Object

        equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

    • Constructor Detail

      • Rotation2D

        public Rotation2D​(long cPtr,
                  boolean cMemoryOwn)

      • Rotation2D

        public Rotation2D()
        A rotation matrix with uninitialized storage.

      • Rotation2D

        public Rotation2D​(double r11,
                  double r12,
                  double r21,
                  double r22)

      • Rotation2D

        public Rotation2D​(double theta)

      • Rotation2D

        public Rotation2D​(Vector2D 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.

    • Method Detail

      • getCPtr

        public static long getCPtr​(Rotation2D obj)

      • delete

        public void delete()

      • get

        public double get​(long row,
                  long column)

      • set

        public void set​(long row,
                long column,
                double d)

      • equals

        public boolean equals​(Rotation2D 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.

      • notEqual

        public boolean notEqual​(Rotation2D 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.

      • multiply

        public Rotation2D multiply​(Rotation2D bRc)
        Calculates \robabx{a}{c}{\mathbf{R}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{R}}
        where this object is \robabx{a}{b}{\mathbf{R}} .

        Parameters:
        bRc - [in] \robabx{b}{c}{\mathbf{R}}

        Returns:
        \robabx{a}{c}{\mathbf{R}}

      • multiply

        public Vector2D multiply​(Vector2D bVc)
        Calculates \robabx{a}{c}{\mathbf{v}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{v}}
        where this object is \robabx{a}{b}{\mathbf{R}} .

        Parameters:
        bVc - [in] \robabx{b}{c}{\mathbf{v}}

        Returns:
        \robabx{a}{c}{\mathbf{v}}

      • toString

        public java.lang.String toString()
        Overrides:
        toString in class java.lang.Object