MipBaselib::Roto2DArma Class Reference

This class represents the generic rotation matrix in 2D. More...

#include <R2Arma.h>

List of all members.

Public Member Functions
	Roto2DArma (CanonicalArmaMatrix init=ZERO_ARMA_MATRIX)
	Default constructor.
	Roto2DArma (const Decimal &a11, const Decimal &a12, const Decimal &a21, const Decimal &a22)
	Complete constructor, given as the four elements of the matrix.
	Roto2DArma (const Decimal &yaw)
	Constructor with yaw (cos(yaw) -sin(yaw); sin(yaw) cos(yaw)).
	Roto2DArma (const Roto2DArma &A)
	Copy constructor.
	Roto2DArma (const arma::Mat< Decimal >::fixed< 2, 2 > &rhs)
	Copy constructor from an arma Matrix.
	Roto2DArma (const vector< Decimal > &vec)
	Constructor with vector of Decimal (vec.at(0) vec.at(1); vec.at(2) vec.at(3)).
Roto2DArma &	operator= (const Roto2DArma &rhs)
	Assignment operator.
Roto2DArma &	operator= (const arma::Mat< Decimal >::fixed< 2, 2 > &rhs)
	Assignment operator.
Roto2DArma &	operator+= (const Roto2DArma &pos)
	Compound assignment operator product by a another Roto2DArma pos +=.
Roto2DArma	operator+ (Roto2DArma &other) const
	Binary arithmetic operator element-wise Roto2DArma.
Roto2DArma	operator- (Roto2DArma &other) const
	Binary arithmetic operator element-wise Roto2DArma.
Roto2DArma &	operator-= (const Roto2DArma &pos)
	Compound assignment operator product by a another Roto2DArma pos -=.
Roto2DArma &	operator*= (const Roto2DArma &pos)
	Compound assignment operator product by a another Roto2DArma pos *=.
Roto2DArma &	operator*= (const Decimal &scalar)
	Compound assignment operator product by a scalar *.
Roto2DArma	operator* (Roto2DArma &other) const
	Binary arithmetic operator element-wise scalar.
Roto2DArma &	operator/= (const Roto2DArma &pos)
	Compound assignment operator product by a another Roto2DArma pos *=.
Roto2DArma &	operator/= (const Decimal &scalar)
	Compound assignment operator product by a scalar *.
Roto2DArma	operator/ (Roto2DArma &other) const
	Binary arithmetic operator element-wise scalar.
string	print ()
	Print.
Roto2DArma	invMatrix ()
	Return the inverse matrix using armadillo libraries.
arma::Mat< Decimal >	subMat (int r, int c, int R, int C)
	Return the submatrix specified by the input values.
arma::Row< Decimal >::fixed< 2 >	getFirstRow () const
	Get the first row of the matrix.
arma::Row< Decimal >::fixed< 2 >	getSecondRow () const
	Get the second row of the matrix.
arma::Col< Decimal >::fixed< 2 >	getFirstCol () const
	Get the first row of the matrix.
arma::Col< Decimal >::fixed< 2 >	getSecondCol () const
	Get the second row of the matrix.
Decimal	getElem (int r, int c) const
	Return the element in position [r,c] starting from [0,0].
void	setElem (int r, int c, const Decimal &item)
	Set the element in position [r,c] starting from [0,0].
Decimal	getYaw () const
	Get the yaw angle.
Angle	getYawAngle () const
	Get the yaw angle.
arma::Mat< Decimal >::fixed< 2, 2 > *	getMat ()
	Pointer to armadillo matrix.

---

Detailed Description

This class represents the generic rotation matrix in 2D.

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Constructor & Destructor Documentation

Roto2DArma::Roto2DArma

(

CanonicalArmaMatrix

init = ZERO_ARMA_MATRIX

)

Default constructor.

Roto2DArma::Roto2DArma	(	const Decimal &	a11,
		const Decimal &	a12,
		const Decimal &	a21,
		const Decimal &	a22
	)

Complete constructor, given as the four elements of the matrix.

Roto2DArma::Roto2DArma

(

const Decimal &

yaw

)

Constructor with yaw (cos(yaw) -sin(yaw); sin(yaw) cos(yaw)).

Roto2DArma::Roto2DArma

(

const Roto2DArma &

A

)

Copy constructor.

Roto2DArma::Roto2DArma

(

const arma::Mat< Decimal >::fixed< 2, 2 > &

rhs

)

Copy constructor from an arma Matrix.

MipBaselib::Roto2DArma::Roto2DArma

(

const vector< Decimal > &

vec

)

Constructor with vector of Decimal (vec.at(0) vec.at(1); vec.at(2) vec.at(3)).

Note:

Assumption: vector in input has 4 elements. No checking for computational efficiency

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Member Function Documentation

Roto2DArma & Roto2DArma::operator=

(

const Roto2DArma &

rhs

)

Assignment operator.

Roto2DArma & Roto2DArma::operator=

(

const arma::Mat< Decimal >::fixed< 2, 2 > &

rhs

)

Assignment operator.

Roto2DArma & Roto2DArma::operator+=

(

const Roto2DArma &

pos

)

Compound assignment operator product by a another Roto2DArma pos +=.

Roto2DArma Roto2DArma::operator+

(

Roto2DArma &

other

)

const

Binary arithmetic operator element-wise Roto2DArma.

Roto2DArma Roto2DArma::operator-

(

Roto2DArma &

other

)

const

Binary arithmetic operator element-wise Roto2DArma.

Roto2DArma & Roto2DArma::operator-=

(

const Roto2DArma &

pos

)

Compound assignment operator product by a another Roto2DArma pos -=.

Roto2DArma & Roto2DArma::operator*=

(

const Roto2DArma &

pos

)

Compound assignment operator product by a another Roto2DArma pos *=.

Roto2DArma & Roto2DArma::operator*=

(

const Decimal &

scalar

)

Compound assignment operator product by a scalar *.

Roto2DArma Roto2DArma::operator*

(

Roto2DArma &

other

)

const

Binary arithmetic operator element-wise scalar.

Roto2DArma & Roto2DArma::operator/=

(

const Roto2DArma &

pos

)

Compound assignment operator product by a another Roto2DArma pos *=.

Roto2DArma & Roto2DArma::operator/=

(

const Decimal &

scalar

)

Compound assignment operator product by a scalar *.

Roto2DArma Roto2DArma::operator/

(

Roto2DArma &

other

)

const

Binary arithmetic operator element-wise scalar.

string Roto2DArma::print

(

)

Print.

Roto2DArma Roto2DArma::invMatrix

(

)

Return the inverse matrix using armadillo libraries.

Returns:

Inverse matrix

arma::Mat< Decimal > Roto2DArma::subMat	(	int	r,
		int	c,
		int	R,
		int	C
	)

Return the submatrix specified by the input values.

Parameters:

[in]	r	First row
[in]	R	Last row
[in]	c	First column
[in]	C	Last column

Note:

No control on the dimension and exceeding od row/column for efficiency

arma::Row< Decimal >::fixed< 2 > Roto2DArma::getFirstRow

(

)

const

Get the first row of the matrix.

Returns:

The first row of the matrix

arma::Row< Decimal >::fixed< 2 > Roto2DArma::getSecondRow

(

)

const

Get the second row of the matrix.

Returns:

The second row of the matrix

arma::Col< Decimal >::fixed< 2 > Roto2DArma::getFirstCol

(

)

const

Get the first row of the matrix.

Returns:

The first row of the matrix

arma::Col< Decimal >::fixed< 2 > Roto2DArma::getSecondCol

(

)

const

Get the second row of the matrix.

Returns:

The second row of the matrix

Decimal Roto2DArma::getElem	(	int	r,
		int	c
	)			const

Return the element in position [r,c] starting from [0,0].

Parameters:

[in]	r	Row of the element one wants to find
[in]	c	Column of the element one wants to find

Returns:

Element in position [r,c]

void Roto2DArma::setElem	(	int	r,
		int	c,
		const Decimal &	item
	)

Set the element in position [r,c] starting from [0,0].

Parameters:

[in]	r	Row of the element one wants to set
[in]	c	Column of the element one wants to set
[in]	item	Element one wants to insert in [r,c]

Decimal Roto2DArma::getYaw

(

)

const

Get the yaw angle.

Returns:

Yaw angle

Angle Roto2DArma::getYawAngle

(

)

const

Get the yaw angle.

Returns:

Yaw angle

arma::Mat< Decimal >::fixed< 2, 2 > * Roto2DArma::getMat

(

)

Pointer to armadillo matrix.

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The documentation for this class was generated from the following files:

• baselib/Spaces/R2Arma.h
• baselib/Spaces/R2Arma.cpp