## Class Rotation2D

• java.lang.Object
• org.robwork.sdurw_math.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
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​(Vector2D i,
Vector2D j)
• #### 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()
• #### identity

public static Rotation2D identity()
• #### 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.
• #### e

public SWIGTYPE_p_Eigen__Rotation2DT_double_t e()
Returns a Eigen 2x2 matrix \mathbf{M}\in SO(2) that represents this rotation

Returns:
\mathbf{M}\in SO(2)
• #### 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