translation2d.h

#pragma once
 
#include <Eigen/Dense>
#include <cmath>
#include <iostream>
#include <vector>
 
#include "core/utils/math/geometry/rotation2d.h"
 
class Rotation2d;

class Translation2d {
  public:
    constexpr Translation2d() : m_x(0), m_y(0) {}
    Translation2d(const double &x, const double &y);

    Translation2d(const Eigen::Vector2d &vector);

    Translation2d(const double &r, const Rotation2d &theta);

    double x() const;

    void setX(double x);

    double y() const;

    void setY(double y);

    Rotation2d theta() const;

    Eigen::Vector2d as_vector() const;

    double norm() const;

    Translation2d normalize() const;

    double distance(const Translation2d &other) const;

    Translation2d rotate_by(const Rotation2d &rotation) const;

    Translation2d rotate_around(const Translation2d &other, const Rotation2d &rotation) const;

    Translation2d operator+(const Translation2d &other) const;

    Translation2d operator-(const Translation2d &other) const;

    Translation2d operator-() const;

    Translation2d operator*(const double &scalar) const;

    Translation2d operator/(const double &scalar) const;

    double operator*(const Translation2d &other) const;

    bool operator==(const Translation2d &other) const;

    friend std::ostream &operator<<(std::ostream &os, const Translation2d &translation);
 
  private:
    double m_x;
    double m_y;
};

Translation2d mean(const std::vector<Translation2d> &list);