From 2bd7a1c51376be178699e5abbb91bf6918d9da59 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Thu, 8 Jul 2010 14:39:06 +0000
Subject: [PATCH] Added another constructor and more comments regarding
 degrees/radians to Rot2

---
 cpp/Rot2.h | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/cpp/Rot2.h b/cpp/Rot2.h
index 321fc2bdc..dbc4a12d7 100644
--- a/cpp/Rot2.h
+++ b/cpp/Rot2.h
@@ -16,7 +16,9 @@
 
 namespace gtsam {
 
-  /* Rotation matrix */
+  /** Rotation matrix
+   * NOTE: the angle theta is in radians unless explicitly stated
+   */
   class Rot2: Testable<Rot2>, public Lie<Rot2> {
 
   private:
@@ -37,9 +39,15 @@ namespace gtsam {
 
     /** "named constructors" */
 
-    /** Named constructor from angle == exponential map at identity */
+    /** Named constructor from angle == exponential map at identity  - theta is in radians*/
     static Rot2 fromAngle(double theta);
 
+    /** Named constructor from angle in degrees */
+    static Rot2 fromDegrees(double theta) {
+    	const double degree = M_PI / 180;
+    	return fromAngle(theta * degree);
+    }
+
     /** Named constructor from cos(theta),sin(theta) pair, will *not* normalize! */
     static Rot2 fromCosSin(double c, double s);