/// <summary>
/// Creates a relative rotation from t0 to t1.
/// </summary>
/// <param name="r0"></param>
/// <param name="r1"></param>
/// <returns></returns>
public static Rotation2d CreateRelative(Rotation2d r0, Rotation2d r1)
{
return(r1.Apply(r0.Inverse));
}
/// <summary>
///
/// </summary>
/// <param name="r0"></param>
/// <param name="r1"></param>
/// <returns></returns>
public static Rotation2d Multiply(Rotation2d r0, Rotation2d r1)
{
return(r0.Apply(r1));
}
/// <summary>
/// Inverts this transformation in place.
/// </summary>
public void Invert()
{
Scale = 1.0 / Scale;
Rotation.Invert();
Translation = Rotation.Apply(-Translation) * Scale;
}
/// <summary>
///
/// </summary>
/// <param name="rotation"></param>
/// <param name="vector"></param>
public static Vec2d Multiply(Rotation2d rotation, Vec2d vector)
{
return(rotation.Apply(vector));
}
/// <summary>
/// Inverts this transformation in place.
/// </summary>
public void Invert()
{
Rotation.Invert();
Translation = -Rotation.Apply(Translation);
}
