The documentation says that I should be able to convert a rotation matrix to a Rotation2D with the idiom:

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Rotation2Df r; r = Matrix2f(..); 

I tried to copy a matrix to a rotation as stated in the docs. I got a compiler error.

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error: no match for ‘operator=’ (operand types are ‘Eigen::Rotation2D<double>’ and ‘Eigen::Matrix2d {aka Eigen::Matrix<double, 2, 2>}’)


I'm including Eigen/Dense and Eigen/Geometry. Is there something else I'm missing?

Indeed, the doc seems to be wrong. You currently have to write rot.fromRotationMatrix(mat2x2);

Added in devel branch: https://bitbucket.org/eigen/eigen/commits/3f16d8b94c03/