ERC CISST - cisst software

vctMatrixRotation2Base< _containerType > Class Template Reference

#include <vctMatrixRotation2Base.h>

Inheritance diagram for vctMatrixRotation2Base< _containerType >:

Inheritance graph
[legend]
Collaboration diagram for vctMatrixRotation2Base< _containerType >:

Collaboration graph
[legend]
List of all members.

Detailed Description

template<class _containerType>
class vctMatrixRotation2Base< _containerType >

Declaration of vctMatrixRotation2Base Define a rotation matrix for a space of dimension 2.

This class is templated by the type of container used to store the rotation matrix. This class is an internal class, i.e. it is not intended for the end-user. The class which should be used by most is vctMatRot2 (eventually vctMatrixRotation2<_elementType>).

The main goal of this meta rotation matrix class is to ease the interface with Python. For a native Python object, a matrix rotation can be defined based on a vctDynamicMatrix which is much easier to wrap than a vctFixedSizeMatrix. For a C++ object accessed from Python, the rotation matrix will be defined using vctMatrixRotation2Base<vctDynamicMatrixRef<double> >, referring to the C++ vctMatrixRotation2Base<vctFixedSizeMatrix<double, 2, 2> >.

Parameters:
_containerType The type of the matrix.
See also:
vctFixedSizeMatrix

Definition at line 58 of file vctMatrixRotation2Base.h.

Public Types

Public Member Functions

Conversion from normalized input.
These methods will check that the input is normalized. If the input is not normalized, an exception (std::runtime_error) will be thrown using cmnThrow().

Note:
Since all exceptions are thrown using cmnThrow(), it is possible to configure these methods to use abort() if the normalization requirements are not met (see cmnThrow()).


Conversion and normalization.
These method will accept any input and attempt to either normalize the input and then convert or convert and then normalize the quaternion itself.
The order depends on the type of input.

Conversion.
These method don't check if the input is normalized nor try to normalize the results. They should be used with caution since the resulting rotation (in this case a quaternion) might not be normalized.

Static Public Member Functions

Protected Member Functions

Member Typedef Documentation

template<class _containerType>
typedef cmnTypeTraits<value_type> vctMatrixRotation2Base< _containerType >::TypeTraits

Traits used for all useful types and values related to the element type.

Definition at line 72 of file vctMatrixRotation2Base.h.

Constructor & Destructor Documentation

template<class _containerType>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base (  )  [inline]

Default constructor. Sets the rotation matrix to identity.

Definition at line 105 of file vctMatrixRotation2Base.h.

template<class _containerType>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const value_type &  element00,
const value_type &  element01,
const value_type &  element10,
const value_type &  element11 
) throw (std::runtime_error) [inline]

Constructor from 4 elements.

The parameters are given row first so that the code remains human readable:

      vctMatrixRotation2<double> matrix( 0.0, 1.0,
                                        -1.0, 0.0);

Definition at line 165 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const vctFixedSizeConstVectorBase< 2, __stride1, value_type, __dataPtrType1 > &  v1,
const vctFixedSizeConstVectorBase< 2, __stride2, value_type, __dataPtrType2 > &  v2,
bool  vectorsAreColumns = true 
) throw (std::runtime_error) [inline]

Constructor from 2 fixed size vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

Definition at line 184 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<class __vectorOwnerType1, class __vectorOwnerType2>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &  v1,
const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &  v2,
bool  vectorsAreColumns = true 
) throw (std::runtime_error) [inline]

Constructor from 2 dynamic vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

Definition at line 201 of file vctMatrixRotation2Base.h.

template<class _containerType>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const vctAngleRotation2 &  angleRotation  )  throw (std::runtime_error) [inline]

Construction from a vctAngleRotation2.

Definition at line 211 of file vctMatrixRotation2Base.h.

template<class _containerType>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const value_type &  element00,
const value_type &  element01,
const value_type &  element10,
const value_type &  element11,
bool  normalizeInput 
) [inline]

Constructor from 4 elements.

The parameters are given row first so that the code remains human readable:

      vctMatrixRotation2Base<vctFixedSizeMatrix<double, 2, 2> > matrix( 0.0, 1.0,
                                                                       -1.0, 0.0);

Definition at line 255 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &  v1,
const vctFixedSizeConstVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &  v2,
bool  vectorsAreColumns,
bool  normalizeInput 
) [inline]

Constructor from 2 fixed size vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

Definition at line 279 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<class __vectorOwnerType1, class __vectorOwnerType2>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &  v1,
const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &  v2,
bool  vectorsAreColumns,
bool  normalizeInput 
) [inline]

Constructor from 2 dynamic vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

Definition at line 299 of file vctMatrixRotation2Base.h.

template<class _containerType>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const vctAngleRotation2 &  angleRotation,
bool  normalizeInput 
) [inline]

Construction from a vctAngleRotation2.

Definition at line 312 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const vctFixedSizeMatrixBase< ROWS, COLS, __rowStride, __colStride, value_type, __dataPtrType > &  matrix  )  [inline, explicit]

Initialize this rotation matrix with a base matrix. This constructor only takes a matrix of the same element type.

Note:
This constructor does not verify normalization. It is introduced to allow using results of matrix operations and assign them to a rotation matrix.

The constructor is declared explicit, to force the user to be aware of the conversion being made.

Definition at line 337 of file vctMatrixRotation2Base.h.

template<class _containerType>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const value_type &  element00,
const value_type &  element01,
const value_type &  element10,
const value_type &  element11 
) throw (std::runtime_error) [inline]

Constructor from 4 elements.

The parameters are given row first so that the code remains human readable:

      vctMatrixRotation2<double> matrix( 0.0, 1.0,
                                        -1.0, 0.0);

Definition at line 165 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const vctFixedSizeConstVectorBase< 2, __stride1, value_type, __dataPtrType1 > &  v1,
const vctFixedSizeConstVectorBase< 2, __stride2, value_type, __dataPtrType2 > &  v2,
bool  vectorsAreColumns = true 
) throw (std::runtime_error) [inline]

Constructor from 2 fixed size vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

Definition at line 184 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<class __vectorOwnerType1, class __vectorOwnerType2>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &  v1,
const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &  v2,
bool  vectorsAreColumns = true 
) throw (std::runtime_error) [inline]

Constructor from 2 dynamic vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

Definition at line 201 of file vctMatrixRotation2Base.h.

template<class _containerType>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const vctAngleRotation2 &  angleRotation  )  throw (std::runtime_error) [inline]

Construction from a vctAngleRotation2.

Definition at line 211 of file vctMatrixRotation2Base.h.

template<class _containerType>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const value_type &  element00,
const value_type &  element01,
const value_type &  element10,
const value_type &  element11,
bool  normalizeInput 
) [inline]

Constructor from 4 elements.

The parameters are given row first so that the code remains human readable:

      vctMatrixRotation2Base<vctFixedSizeMatrix<double, 2, 2> > matrix( 0.0, 1.0,
                                                                       -1.0, 0.0);

Definition at line 255 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &  v1,
const vctFixedSizeConstVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &  v2,
bool  vectorsAreColumns,
bool  normalizeInput 
) [inline]

Constructor from 2 fixed size vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

Definition at line 279 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<class __vectorOwnerType1, class __vectorOwnerType2>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &  v1,
const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &  v2,
bool  vectorsAreColumns,
bool  normalizeInput 
) [inline]

Constructor from 2 dynamic vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

Definition at line 299 of file vctMatrixRotation2Base.h.

template<class _containerType>
vctMatrixRotation2Base< _containerType >::vctMatrixRotation2Base ( const vctAngleRotation2 &  angleRotation,
bool  normalizeInput 
) [inline]

Construction from a vctAngleRotation2.

Definition at line 312 of file vctMatrixRotation2Base.h.

Member Function Documentation

template<class _containerType>
void vctMatrixRotation2Base< _containerType >::ThrowUnlessIsNormalized ( void   )  const throw (std::runtime_error) [inline, protected]

Throw an exception unless this rotation is normalized.

Definition at line 77 of file vctMatrixRotation2Base.h.

Referenced by vctMatrixRotation2Base< vctFixedSizeMatrix< _elementType, 2, 2 > >::From().

template<class _containerType>
template<class _inputType>
void vctMatrixRotation2Base< _containerType >::ThrowUnlessIsNormalized ( const _inputType &  input  )  const throw (std::runtime_error) [inline, protected]

Throw an exception unless the input is normalized.

Parameters:
input An object with IsNormalized method.

Definition at line 88 of file vctMatrixRotation2Base.h.

template<class _containerType>
void vctMatrixRotation2Base< _containerType >::Allocate ( void   )  [inline, protected]

Allocate memory for the underlying container if needed. By default, this methods does nothing. For any container requiring a memory allocation, it is necessary to specialize this method.

Definition at line 99 of file vctMatrixRotation2Base.h.

Referenced by vctMatrixRotation2Base< vctFixedSizeMatrix< _elementType, 2, 2 > >::vctMatrixRotation2Base().

template<class _containerType>
ThisType& vctMatrixRotation2Base< _containerType >::operator= ( const ContainerType &  other  )  [inline]

The assignment from BaseType (i.e. a 2 by 2 fixed size matrix) has to be redefined for this class (C++ restriction). This operator uses the Assign() method inherited from the BaseType. This operator (as well as the Assign method) allows to set a rotation matrix to whatever value without any further validity checking. It is recommended to use it with caution.

Definition at line 117 of file vctMatrixRotation2Base.h.

template<class _containerType>
static CISST_EXPORT const ThisType& vctMatrixRotation2Base< _containerType >::Identity (  )  [static]

Const reference to the identity. In this case, the identity matrix: 

      1 0
      0 1

Referenced by vctMatrixRotation2Base< vctFixedSizeMatrix< _elementType, 2, 2 > >::vctMatrixRotation2Base().

template<class _containerType>
ThisType& vctMatrixRotation2Base< _containerType >::From ( const value_type &  element00,
const value_type &  element01,
const value_type &  element10,
const value_type &  element11 
) throw (std::runtime_error) [inline]

Conversion from 4 elements.

Definition at line 368 of file vctMatrixRotation2Base.h.

Referenced by vctMatrixRotation2Base< vctFixedSizeMatrix< _elementType, 2, 2 > >::vctMatrixRotation2Base().

template<class _containerType>
template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2>
ThisType& vctMatrixRotation2Base< _containerType >::From ( const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &  v1,
const vctFixedSizeConstVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &  v2,
bool  vectorsAreColumns = true 
) throw (std::runtime_error) [inline]

Conversion from 2 fixed size vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

Definition at line 387 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<class __vectorOwnerType1, class __vectorOwnerType2>
ThisType& vctMatrixRotation2Base< _containerType >::From ( const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &  v1,
const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &  v2,
bool  vectorsAreColumns = true 
) throw (std::runtime_error) [inline]

Conversion from 2 dynamic vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

Definition at line 406 of file vctMatrixRotation2Base.h.

template<class _containerType>
ThisType& vctMatrixRotation2Base< _containerType >::From ( const vctAngleRotation2 &  angleRotation  )  throw (std::runtime_error) [inline]

Conversion from an angle rotation.

Definition at line 418 of file vctMatrixRotation2Base.h.

template<class _containerType>
ThisType& vctMatrixRotation2Base< _containerType >::FromNormalized ( const value_type &  element00,
const value_type &  element01,
const value_type &  element10,
const value_type &  element11 
) [inline]

Conversion from 4 elements.

Definition at line 443 of file vctMatrixRotation2Base.h.

Referenced by vctMatrixRotation2Base< vctFixedSizeMatrix< _elementType, 2, 2 > >::vctMatrixRotation2Base().

template<class _containerType>
template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2>
ThisType& vctMatrixRotation2Base< _containerType >::FromNormalized ( const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &  v1,
const vctFixedSizeConstVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &  v2,
bool  vectorsAreColumns = true 
) throw (std::runtime_error) [inline]

Conversion from 2 fixed size vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

Definition at line 461 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<class __vectorOwnerType1, class __vectorOwnerType2>
ThisType& vctMatrixRotation2Base< _containerType >::FromNormalized ( const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &  v1,
const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &  v2,
bool  vectorsAreColumns = true 
) [inline]

Conversion from 2 dynamic vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

Definition at line 481 of file vctMatrixRotation2Base.h.

template<class _containerType>
ThisType& vctMatrixRotation2Base< _containerType >::FromNormalized ( const vctAngleRotation2 &  angleRotation  )  [inline]

Conversion from an angle rotation.

Definition at line 492 of file vctMatrixRotation2Base.h.

template<class _containerType>
ThisType& vctMatrixRotation2Base< _containerType >::FromRaw ( const value_type &  element00,
const value_type &  element01,
const value_type &  element10,
const value_type &  element11 
) [inline]

Conversion from 4 elements.

Definition at line 516 of file vctMatrixRotation2Base.h.

Referenced by vctMatrixRotation2Base< vctFixedSizeMatrix< _elementType, 2, 2 > >::From(), vctMatrixRotation2Base< vctFixedSizeMatrix< _elementType, 2, 2 > >::FromNormalized(), and vctMatrixRotation2Base< vctFixedSizeMatrix< _elementType, 2, 2 > >::vctMatrixRotation2Base().

template<class _containerType>
template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2>
ThisType& vctMatrixRotation2Base< _containerType >::FromRaw ( const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &  v1,
const vctFixedSizeConstVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &  v2,
bool  vectorsAreColumns = true 
) [inline]

Conversion from 2 fixed size vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

Definition at line 533 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<class __vectorOwnerType1, class __vectorOwnerType2>
ThisType& vctMatrixRotation2Base< _containerType >::FromRaw ( const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &  v1,
const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &  v2,
bool  vectorsAreColumns = true 
) throw (std::runtime_error) [inline]

Conversion from 2 dynamic vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

Definition at line 556 of file vctMatrixRotation2Base.h.

template<class _containerType>
CISST_EXPORT ThisType& vctMatrixRotation2Base< _containerType >::FromRaw ( const vctAngleRotation2 &  angleRotation  ) 

Conversion from an angle rotation

template<class _containerType>
ThisType& vctMatrixRotation2Base< _containerType >::FromRaw ( const ThisType &  otherRotation  )  [inline]

A complementary form of assigning one matrix rotation to another. The method is provided mostly for generic programming interfaces and for testing various operations on rotations

Definition at line 581 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType>
ThisType& vctMatrixRotation2Base< _containerType >::FromRaw ( const vctFixedSizeMatrixBase< DIMENSION, DIMENSION, __rowStride, __colStride, value_type, __dataPtrType > &  matrix  )  [inline]

Assign a 2x2 matrix to this rotation matrix. This method does not substitute the Assign() method. Assign() may perform type conversion, while From() only takes a matrix of the same element type.

Note:
This method does not verify normalization. It is introduced to allow using results of matrix operations and assign them to a rotation matrix.

Definition at line 596 of file vctMatrixRotation2Base.h.

template<class _containerType>
CISST_EXPORT ThisType& vctMatrixRotation2Base< _containerType >::NormalizedSelf ( void   ) 

Normalizes this matrix. This method converts the matrix to an angle and convert back to a matrix.

Referenced by vctMatrixRotation2Base< vctFixedSizeMatrix< _elementType, 2, 2 > >::FromNormalized(), and vctMatrixRotation2Base< vctFixedSizeMatrix< _elementType, 2, 2 > >::NormalizedOf().

template<class _containerType>
ThisType& vctMatrixRotation2Base< _containerType >::NormalizedOf ( const ThisType &  otherMatrix  )  [inline]

Sets this rotation matrix as the normalized version of another one.

Parameters:
otherMatrix Matrix used to compute the normalized matrix.

Definition at line 611 of file vctMatrixRotation2Base.h.

template<class _containerType>
ThisType vctMatrixRotation2Base< _containerType >::Normalized ( void   )  const [inline]

Returns the normalized version of this matrix. This method returns a copy of the normalized version and does not modify this matrix.

Definition at line 620 of file vctMatrixRotation2Base.h.

Referenced by vctAngleRotation2::FromNormalized().

template<class _containerType>
bool vctMatrixRotation2Base< _containerType >::IsNormalized ( value_type  tolerance = TypeTraits::Tolerance()  )  const [inline]

Test if this matrix is normalized. This methods checks that all the columns are normalized (within a margin of tolerance) and then checks that the two vectors are orthogonal to each other.

Parameters:
tolerance Tolerance for the norm and scalar product tests.

Definition at line 634 of file vctMatrixRotation2Base.h.

template<class _containerType>
ThisType& vctMatrixRotation2Base< _containerType >::InverseSelf ( void   )  [inline]

Inverse this rotation matrix. This methods assumes that the matrix is normalized and sets this matrix as its transposed.

Definition at line 648 of file vctMatrixRotation2Base.h.

template<class _containerType>
ThisType& vctMatrixRotation2Base< _containerType >::InverseOf ( const ThisType &  otherRotation  )  [inline]

Set this rotation as the inverse of another one. See also InverseSelf().

Definition at line 660 of file vctMatrixRotation2Base.h.

template<class _containerType>
ThisType vctMatrixRotation2Base< _containerType >::Inverse ( void   )  const [inline]

Create and return by copy the inverse of this matrix. This method is not the most efficient since it requires a copy. See also InverseSelf().

Definition at line 669 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2>
void vctMatrixRotation2Base< _containerType >::ApplyTo ( const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &  input,
vctFixedSizeVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &  output 
) const [inline]

Apply the rotation to a vector of fixed size 2. The result is stored into another vector of size 2 provided by the caller and passed by reference.

Parameters:
input The input vector
output The output vector

Definition at line 685 of file vctMatrixRotation2Base.h.

Referenced by vctMatrixRotation2Base< vctFixedSizeMatrix< _elementType, 2, 2 > >::ApplyTo(), and vctMatrixRotation2Base< vctFixedSizeMatrix< _elementType, 2, 2 > >::operator *().

template<class _containerType>
template<stride_type __stride, class __dataPtrType>
vctFixedSizeVector<value_type, 2> vctMatrixRotation2Base< _containerType >::ApplyTo ( const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &  input  )  const [inline]

Apply the rotation to a vector of fixed size 2. The result is returned by copy. This interface might be more convenient for some but one should note that it is less efficient since it requires a copy.

Parameters:
input The input vector
Returns:
The output vector

Definition at line 702 of file vctMatrixRotation2Base.h.

template<class _containerType>
void vctMatrixRotation2Base< _containerType >::ApplyTo ( const ThisType &  input,
ThisType &  output 
) const [inline]

Apply the rotation to another rotation. The result is stored into a vctMatrixRotation2Base (ThisType) provided by the caller and passed by reference.

Parameters:
input The input rotation
output The output rotation

Definition at line 717 of file vctMatrixRotation2Base.h.

template<class _containerType>
ThisType vctMatrixRotation2Base< _containerType >::ApplyTo ( const ThisType &  input  )  const [inline]

Apply the rotation to another rotation. The result is returned by copy. This interface might be more convenient for some but one should note that it is less efficient since it requires a copy.

Parameters:
input The input rotation
Returns:
The output rotation

Definition at line 732 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<class _vectorOwnerType1, class _vectorOwnerType2>
void vctMatrixRotation2Base< _containerType >::ApplyTo ( const vctDynamicConstVectorBase< _vectorOwnerType1, value_type > &  input,
vctDynamicVectorBase< _vectorOwnerType2, value_type > &  output 
) const [inline]

Apply the rotation to a dynamic vector. The result is stored into another dynamic vector passed by reference by the caller. It is assumed that both are of size 2.

Definition at line 746 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2>
void vctMatrixRotation2Base< _containerType >::ApplyInverseTo ( const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &  input,
vctFixedSizeVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &  output 
) const [inline]

Apply the inverse of the rotation to a vector of fixed size 2. The result is stored into a vector of size 2 provided by the caller and passed by reference.

Parameters:
input The input vector
output The output vector

Definition at line 765 of file vctMatrixRotation2Base.h.

Referenced by vctMatrixRotation2Base< vctFixedSizeMatrix< _elementType, 2, 2 > >::ApplyInverseTo().

template<class _containerType>
template<stride_type __stride, class __dataPtrType>
vctFixedSizeVector<value_type, 2> vctMatrixRotation2Base< _containerType >::ApplyInverseTo ( const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &  input  )  const [inline]

Apply the the inverse of the rotation to a vector of fixed size 2. The result is returned by copy. This interface might be more convenient for some but one should note that it is less efficient since it requires a copy.

Parameters:
input The input vector
Returns:
The output vector

Definition at line 782 of file vctMatrixRotation2Base.h.

template<class _containerType>
void vctMatrixRotation2Base< _containerType >::ApplyInverseTo ( const ThisType &  input,
ThisType &  output 
) const [inline]

Apply the inverse of the rotation to another rotation. The result is stored into a vctMatrixRotation2Base (ThisType) provided by the caller and passed by reference.

Parameters:
input The input rotation
output The output rotation

Definition at line 796 of file vctMatrixRotation2Base.h.

template<class _containerType>
ThisType vctMatrixRotation2Base< _containerType >::ApplyInverseTo ( const ThisType &  input  )  const [inline]

Apply the inverse of the rotation to another rotation. The result is returned by copy. This interface might be more convenient for some but one should note that it is less efficient since it requires a copy.

Parameters:
input The input rotation
Returns:
The output rotation

Definition at line 810 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<class _vectorOwnerType1, class _vectorOwnerType2>
void vctMatrixRotation2Base< _containerType >::ApplyInverseTo ( const vctDynamicConstVectorBase< _vectorOwnerType1, value_type > &  input,
vctDynamicVectorBase< _vectorOwnerType2, value_type > &  output 
) const [inline]

Apply the the inverse of the rotation to a dynamic vector. The result is stored into another dynamic vector passed by reference by the caller. It is assumed that both are of size 2.

Definition at line 824 of file vctMatrixRotation2Base.h.

template<class _containerType>
ThisType vctMatrixRotation2Base< _containerType >::operator * ( const ThisType &  input  )  const [inline]

Multiply two rotation matrices and return the result as a rotation matrix.

Returns:
(*this) * other
Note:
this function overrides and shadows the operator * defined for basic matrix type. The latter returns a vctFixedSizeMatrix, while this version returns a specialized rotation matrix.

Definition at line 840 of file vctMatrixRotation2Base.h.

template<class _containerType>
template<stride_type __stride, class __dataPtrType>
vctFixedSizeVector<value_type, 2> vctMatrixRotation2Base< _containerType >::operator * ( const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &  input  )  const [inline]

Override the * operator defined in the matrix base for matrix * vector. This prevents compiler confusion between the overloaded RotMat*RotMat and the base-class Mat*Vec

Definition at line 851 of file vctMatrixRotation2Base.h.

template<class _containerType>
bool vctMatrixRotation2Base< _containerType >::AlmostEquivalent ( const ThisType &  other,
value_type  tolerance = TypeTraits::Tolerance() 
) const [inline]

Return true if this rotation is effectively equivalent to the other rotation, up to the given tolerance. For a rotation matrix, this method is strictly the same as AlmostEqual.

See also:
AlmostEqual

Definition at line 863 of file vctMatrixRotation2Base.h.

The documentation for this class was generated from the following file:
erc-cisst-devel<at>lists.johnshopkins.edu