/// <summary>
/// Creates a rigid transformation from a trafo <paramref name="trafo"/>.
/// </summary>
public Euclidean2f(Trafo2d trafo)
{
Rot = Rot2f.FromM22f((M22f)trafo.Forward);
Trans = (V2f)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 Euclidean2f(M22f rot, V2f trans)
{
Rot = Rot2f.FromM22f(rot);
Trans = trans;
}