#include <rotation2d.h>

Description

Class representing a rotation in 2d space. Stores cos and sin, and computes angles based on that.

By nature the stored angle is wrapped, but there are functions that return angles wrapped specifically between e.g. [-180, 180) and [0, 360)

If you need your angle to be continuous use units::Angle instead.

Public Member Functions
constexpr	Rotation2d ()=default
	Default Constructor for Rotation2d.
constexpr	Rotation2d (units::Angle value)
	Constructs a rotation given a units::Angle.
constexpr	Rotation2d (double value)
	Constructs a rotation given an angle in radians.
constexpr	Rotation2d (double x, double y)
constexpr	Rotation2d (units::Length x, units::Length y)
constexpr units::Angle	angle () const
	Gets an Angle equal to this rotation.
constexpr double	angle (units::Angle unit) const
	Gets the angle in the supplied unit.
constexpr double	radians () const
	Gets the rotation in radians.
constexpr double	degrees () const
	Gets the rotation in degrees.
constexpr double	revolutions () const
	Gets the rotation in revolutions.
constexpr double	gradians () const
	Gets the rotation in gradians.
constexpr double	f_cos () const
	Gets the cosine of the rotation.
constexpr double	f_sin () const
	Gets the sine of the rotation.
constexpr double	f_tan () const
	Gets the tangent of the rotation.
constexpr Rotation2d	inverse () const
	Inverts this rotation (conjugate).
constexpr Rotation2d	opposite () const
	Flips this rotation across the origin.
constexpr EMat< 2, 2 >	rotation_matrix () const
	Gets the rotation matrix corresponding to this rotation.
constexpr double	wrapped_radians_180 () const
	Gets the value of this rotation in radians from [-pi, pi].
constexpr double	wrapped_degrees_180 () const
	Gets the value of this rotation in degrees from [-180, 180].
constexpr double	wrapped_revolutions_180 () const
	Gets the value of this rotation in revolutions from [-0.5, 0.5].
constexpr double	wrapped_gradians_180 () const
	Gets the value of this rotation in gradians from [-200, 200].
constexpr double	wrapped_radians_360 () const
	Gets the value of this rotation in radians from [0, 2pi).
constexpr double	wrapped_degrees_360 () const
	Gets the value of this rotation in degrees from [0, 360).
constexpr double	wrapped_revolutions_360 () const
	Gets the value of this rotation in revolutions from [0, 1).
constexpr double	wrapped_gradians_360 () const
	Gets the value of this rotation in gradians from [0, 400).
constexpr Rotation2d	operator+ (Rotation2d other) const
	Adds another rotation to this rotation.
constexpr Rotation2d &	operator+= (Rotation2d other)
	Adds another rotation to this rotation.
constexpr Rotation2d	operator- (Rotation2d other) const
	Subtracts another rotation from this rotation.
constexpr Rotation2d &	operator-= (Rotation2d other)
	Subtracts another rotation from this rotation.
constexpr Rotation2d	operator- () const
	Inverts this rotation (conjugate).
constexpr Rotation2d	operator* (double scalar) const
	Multiplies this rotation by a scalar.
constexpr Rotation2d &	*operator=** (double scalar)
	Multiplies this rotation by a scalar.
constexpr Rotation2d	operator/ (double scalar) const
	Divides this rotation by a scalar.
constexpr Rotation2d &	operator/= (double scalar)
	Divides this rotation by a scalar.
constexpr bool	operator== (Rotation2d other) const
	Checks exact equality between this rotation and another rotation.
constexpr bool	is_near (Rotation2d other, units::Angle tolerance=units::Angle(1e-6)) const
	Compares two angles with a default tolerance of 1e-6 radians.

Static Public Member Functions
static constexpr double	deg2rad (double deg)
static constexpr double	rad2deg (double rad)
static constexpr double	wrap_radians_180 (double angle)
static constexpr double	wrap_degrees_180 (double angle)
static constexpr double	wrap_revolutions_180 (double angle)
static constexpr double	wrap_gradians_180 (double angle)
static constexpr double	wrap_radians_360 (double angle)
static constexpr double	wrap_degrees_360 (double angle)
static constexpr double	wrap_revolutions_360 (double angle)
static constexpr double	wrap_gradians_360 (double angle)

Friends
constexpr Rotation2d	operator* (double scalar, Rotation2d rotation)
	Multiplies a scalar by this rotation.

Constructor & Destructor Documentation

◆ Rotation2d() [1/2]

Rotation2d::Rotation2d	(	double	x,
		double	y )

inlineconstexpr

Constructs a rotation given x and y values, as the angle from the x axis to the point.

[theta] = [atan2(y, x)]

Parameters

x	The x value of the point.
y	The y value of the point.

◆ Rotation2d() [2/2]

Rotation2d::Rotation2d	(	units::Length	x,
		units::Length	y )

inlineconstexpr

Constructs a rotation given x and y values, as the angle from the x axis to the point.

[theta] = [atan2(y, x)]

Parameters

x	The x value of the point.
y	The y value of the point.

Member Function Documentation

◆ deg2rad()

constexpr double Rotation2d::deg2rad ( double deg )

inlinestaticconstexpr

Helper function that converts degrees to radians.

Parameters

deg	angle degrees

Returns: double angle radians.

◆ rad2deg()

constexpr double Rotation2d::rad2deg ( double rad )

inlinestaticconstexpr

Helper function that converts radians to degrees.

Parameters

deg	angle in radians

Returns: double angle in degrees.

◆ wrap_degrees_180()

constexpr double Rotation2d::wrap_degrees_180 ( double angle )

inlinestaticconstexpr

Helper function that wraps an angle in degrees from [-180, 180].

Parameters

angle The angle to wrap.

Returns: The wrapped angle.

◆ wrap_degrees_360()

constexpr double Rotation2d::wrap_degrees_360 ( double angle )

inlinestaticconstexpr

Helper function that wraps an angle in degrees from [0, 360).

Parameters

angle The angle to wrap.

Returns: The wrapped angle.

◆ wrap_gradians_180()

constexpr double Rotation2d::wrap_gradians_180 ( double angle )

inlinestaticconstexpr

Helper function that wraps an angle in gradians from [-200, 200].

Parameters

angle The angle to wrap.

Returns: The wrapped angle.

◆ wrap_gradians_360()

constexpr double Rotation2d::wrap_gradians_360 ( double angle )

inlinestaticconstexpr

Helper function that wraps an angle in gradians from [0, 400).

Parameters

angle The angle to wrap.

Returns: The wrapped angle.

◆ wrap_radians_180()

constexpr double Rotation2d::wrap_radians_180 ( double angle )

inlinestaticconstexpr

Helper function that wraps an angle in radians from [-pi, pi].

Parameters

angle The angle to wrap.

Returns: The wrapped angle.

◆ wrap_radians_360()

constexpr double Rotation2d::wrap_radians_360 ( double angle )

inlinestaticconstexpr

Helper function that wraps an angle in radians from [0, 2pi).

Parameters

angle The angle to wrap.

Returns: The wrapped angle.

◆ wrap_revolutions_180()

constexpr double Rotation2d::wrap_revolutions_180 ( double angle )

inlinestaticconstexpr

Helper function that wraps an angle in revolutions from [-0.5, 0.5].

Parameters

angle The angle to wrap.

Returns: The wrapped angle.

◆ wrap_revolutions_360()

constexpr double Rotation2d::wrap_revolutions_360 ( double angle )

inlinestaticconstexpr

Helper function that wraps an angle in revolutions from [0, 1).

Parameters

angle The angle to wrap.

Returns: The wrapped angle.

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

core/math/geometry/rotation2d.h

Description

Public Member Functions

Static Public Member Functions

Friends

Constructor & Destructor Documentation

◆ Rotation2d() [1/2]

◆ Rotation2d() [2/2]

Member Function Documentation

◆ deg2rad()

◆ rad2deg()

◆ wrap_degrees_180()

◆ wrap_degrees_360()

◆ wrap_gradians_180()

◆ wrap_gradians_360()

◆ wrap_radians_180()

◆ wrap_radians_360()

◆ wrap_revolutions_180()

◆ wrap_revolutions_360()