//
// Created by xtkuang on 2025/7/7.
//

#ifndef GEOMETRY_H
#define GEOMETRY_H

namespace cmvr::math {
    typedef struct {
        double x;
        double y;
    } Vec2;

    typedef struct {
        double x;
        double y;
        double z;
    } Vec3;

    /// quat
    typedef struct {
        double w;
        double x;
        double y;
        double z;
    } Quat;

    /// position 3d
    typedef struct {
        double x;        //* unit: m
        double y;
        double z;
    } Position;

    /// euler angel
    typedef struct {
        double rx; //* unit: rad
        double ry;
        double rz;
    } Euler;

    /// pose 3d
    typedef struct {
        Position position;     ///< 位置，单位：m
        Quat quaternion;       ///< 四元数
        Euler euler;           ///< 欧拉角，单位：rad
    } Pose3d;

    typedef struct {
        double x;        //* unit: m
        double y;
        double theta;
    } Pose2d;
}


#endif //GEOMETRY_H