se2.h

#pragma once
 
#include "Eigen/Core"
#include "constants.h"
#include "rby1-sdk/export.h"
 
namespace rb::math {
 
class SE2;
class se2v;
 
class RBY1_SDK_API se2v {
 public:
  using MatrixType = Eigen::Vector3d;
 
 private:
  se2v() = default;
};
 
class RBY1_SDK_API SE2 {
 public:
  using MatrixType = Eigen::Matrix3d;
 
  static MatrixType Identity();
 
  static MatrixType T(double angle, const Eigen::Vector<double, 2>& translation = {0, 0});
 
  static MatrixType Exp(const se2v::MatrixType& s, double angle = 1.0);
 
  static se2v::MatrixType Log(const MatrixType& T);
};
 
}  // namespace rb::math