// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * 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
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#ifndef G2O_SE2_H_
#define G2O_SE2_H_

#include <Eigen/Core>
#include <Eigen/Geometry>
#include <cassert>

#include "g2o/core/eigen_types.h"
#include "g2o/stuff/misc.h"
#include "g2o_types_slam2d_api.h"

namespace g2o {

/**
 * \brief represent SE2
 */
class G2O_TYPES_SLAM2D_API SE2 {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  SE2() : _R(0), _t(0, 0) {}

  SE2(const Isometry2& iso) : _R(0), _t(iso.translation()) {
    _R.fromRotationMatrix(iso.linear());
  }

  SE2(const Vector3& v) : _R(v[2]), _t(v[0], v[1]) {}

  SE2(double x, double y, double theta) : _R(theta), _t(x, y) {}

  //! translational component
  inline const Vector2& translation() const { return _t; }
  void setTranslation(const Vector2& t_) { _t = t_; }

  //! rotational component
  inline const Rotation2D& rotation() const { return _R; }
  void setRotation(const Rotation2D& R_) { _R = R_; }

  //! concatenate two SE2 elements (motion composition)
  inline SE2 operator*(const SE2& tr2) const {
    SE2 result(*this);
    result *= tr2;
    return result;
  }

  //! motion composition operator
  inline SE2& operator*=(const SE2& tr2) {
    _t += _R * tr2._t;
    _R.angle() += tr2._R.angle();
    _R.angle() = normalize_theta(_R.angle());
    return *this;
  }

  //! project a 2D vector
  inline Vector2 operator*(const Vector2& v) const { return _t + _R * v; }

  //! invert :-)
  inline SE2 inverse() const {
    SE2 ret;
    ret._R = _R.inverse();
    ret._R.angle() = normalize_theta(ret._R.angle());
#ifdef _MSC_VER
    ret._t = ret._R * (Vector2(_t * -1.));
#else
    ret._t = ret._R * (_t * -1.);
#endif
    return ret;
  }

  inline double operator[](int i) const {
    assert(i >= 0 && i < 3);
    if (i < 2) return _t(i);
    return _R.angle();
  }

  //! assign from a 3D vector (x, y, theta)
  inline void fromVector(const Vector3& v) { *this = SE2(v[0], v[1], v[2]); }

  //! convert to a 3D vector (x, y, theta)
  inline Vector3 toVector() const {
    return Vector3(_t.x(), _t.y(), _R.angle());
  }

  inline Isometry2 toIsometry() const {
    Isometry2 iso = Isometry2::Identity();
    iso.linear() = _R.toRotationMatrix();
    iso.translation() = _t;
    return iso;
  }

 protected:
  Rotation2D _R;
  Vector2 _t;
};

}  // namespace g2o

#endif
