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

#ifndef SE2_H
#define SE2_H


#pragma once

#include <eigen3/Eigen/Core>
#include "utils/math/constants.h"

namespace cmvr::math {

    class SE2;
    class se2v;

    class se2v {
    public:
        using MatrixType = Eigen::Vector3d;

    private:
        se2v() = default;
    };

    class 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

#endif //SE2_H