SE2d.h

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/*
 * Copyright (c) 2018-2019, CNRS-UM LIRMM
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#pragma once

#include <mc_rbdyn/rpy_utils.h>

#include <SpaceVecAlg/SpaceVecAlg>

namespace utils
{

struct SE2d
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  SE2d(double x = 0., double y = 0., double theta = 0.) : x(x), y(y), theta(theta) {}

  inline sva::PTransformd operator*(const sva::PTransformd & X_0_a) const
  {
    sva::PTransformd X_a_b = asPTransform();
    return X_a_b * X_0_a;
  }

  inline sva::PTransformd asPTransform() const
  {
    return {mc_rbdyn::rpyToMat(0., 0., theta), Eigen::Vector3d{x, y, 0.}};
  }

  inline Eigen::Vector2d pos() const
  {
    return {x, y};
  }

  inline Eigen::Vector2d ori() const
  {
    return {std::cos(theta), std::sin(theta)};
  }

  inline Eigen::Vector3d vector()
  {
    return {x, y, theta};
  }

  inline Eigen::Vector3d vectorDegrees() const
  {
    return {x, y, theta * 180. / M_PI};
  }

public:
  double x; 
  double y; 
  double theta; 
};

} // namespace utils

using utils::SE2d;