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Add missing Rotation2D::operator=(Matrix2x2)

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This commit is contained in:
Gael Guennebaud 2015-12-03 22:25:26 +01:00
parent d2d4c45d55
commit 1562e13aba
2 changed files with 25 additions and 0 deletions
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21
Eigen/src/Geometry/Rotation2D.h
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@ -64,6 +64,16 @@ public:
/** Default constructor wihtout initialization. The represented rotation is undefined. */
Rotation2D() {}
/** Construct a 2D rotation from a 2x2 rotation matrix \a mat.
*
* \sa fromRotationMatrix()
*/
template<typename Derived>
explicit Rotation2D(const MatrixBase<Derived>& m)
{
fromRotationMatrix(m.derived());
}
/** \returns the rotation angle */
inline Scalar angle() const { return m_angle; }
@ -103,6 +113,17 @@ public:
Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m);
Matrix2 toRotationMatrix() const;
/** Set \c *this from a 2x2 rotation matrix \a mat.
* In other words, this function extract the rotation angle from the rotation matrix.
*
* This method is an alias for fromRotationMatrix()
*
* \sa fromRotationMatrix()
*/
template<typename Derived>
Rotation2D& operator=(const MatrixBase<Derived>& m)
{ return fromRotationMatrix(m.derived()); }
/** \returns the spherical interpolation between \c *this and \a other using
* parameter \a t. It is in fact equivalent to a linear interpolation.
*/

4
test/geo_transformations.cpp
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@ -430,6 +430,10 @@ template<typename Scalar, int Mode, int Options> void transformations()
VERIFY( rot2.smallestAngle() >= -Scalar(EIGEN_PI) );
VERIFY( rot2.smallestAngle() <= Scalar(EIGEN_PI) );
VERIFY_IS_APPROX( angleToVec(rot2.smallestAngle()), angleToVec(rot2.angle()) );
Matrix<Scalar,2,2> rot2_as_mat(rot2);
Rotation2D<Scalar> rot3(rot2_as_mat);
VERIFY_IS_APPROX( angleToVec(rot2.smallestAngle()), angleToVec(rot3.angle()) );
}
s0 = internal::random<Scalar>(-100,100);