/// <summary>
/// Creates a rigid transformation from a trafo <paramref name="trafo"/>.
/// </summary>
public Euclidean2d(Trafo2d trafo)
{
Rot = Rot2d.FromM22d((M22d)trafo.Forward);
Trans = (V2d)trafo.Forward.C2.XY;
}
/// <summary>
/// Creates a rigid transformation from a rotation matrix <paramref name="rot"/> and a (subsequent) translation <paramref name="trans"/>.
/// </summary>
public Euclidean2d(M22d rot, V2d trans)
{
Rot = Rot2d.FromM22d(rot);
Trans = trans;
}