transform2d.h

#pragma once
#include <Eigen/Dense>
 
#include <cmath>
#include <iostream>
#include <vector>
 
#include "core/utils/math/geometry/rotation2d.h"
#include "core/utils/math/geometry/translation2d.h"
 
class Pose2d;

class Transform2d {
  public:
    constexpr Transform2d();

    Transform2d(const Translation2d &translation, const Rotation2d &rotation);

    Transform2d(const double &x, const double &y, const Rotation2d &rotation);

    Transform2d(const double &x, const double &y, const double &radians);

    Transform2d(const Translation2d &translation, const double &radians);

    Transform2d(const Eigen::Vector3d &transform_vector);

    Transform2d(const Pose2d &start, const Pose2d &end);

    Translation2d translation() const;

    double x() const;

    double y() const;

    Rotation2d rotation() const;

    Transform2d inverse() const;

    Transform2d operator*(const double &scalar) const;

    Transform2d operator/(const double &scalar) const;

    Transform2d operator-() const;

    bool operator==(const Transform2d &other) const;

    friend std::ostream &operator<<(std::ostream &os, const Transform2d &transform);
 
  private:
    Translation2d m_translation;
    Rotation2d m_rotation;
};