/// <summary>
/// Applies the inverse of this rotation to the given rotation.
/// </summary>
/// <param name="other"></param>
public Rotation2d ApplyInverse(Rotation2d other)
{
other._x = ApplyInverse(other._x);
return(other);
}
/// <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>
/// Applies this rotation to the given rotation.
/// </summary>
/// <param name="other"></param>
public Rotation2d Apply(Rotation2d other)
{
other._x = Apply(other._x);
return(other);
}
/// <summary>
///
/// </summary>
/// <param name="rotation"></param>
/// <param name="vector"></param>
public static Vec2d Multiply(Rotation2d rotation, Vec2d vector)
{
return(rotation.Apply(vector));
}
/// <summary>
///
/// </summary>
/// <param name="scale"></param>
/// <param name="orientation"></param>
public Transform2d(Vec2d scale, Orient2d orientation)
{
Scale = scale;
Rotation = orientation.Rotation;
Translation = orientation.Translation;
}
/// <summary>
///
/// </summary>
/// <param name="scale"></param>
/// <param name="rotation"></param>
/// <param name="translation"></param>
public Transform2d(Vec2d scale, Rotation2d rotation, Vec2d translation)
{
Scale = scale;
Rotation = rotation;
Translation = translation;
}
/// <summary>
///
/// </summary>
/// <param name="origin"></param>
/// <param name="x"></param>
public Orient2d(Vec2d origin, Vec2d x)
{
Rotation = new Rotation2d(x);
Translation = origin;
}
/// <summary>
///
/// </summary>
/// <param name="rotation"></param>
/// <param name="translation"></param>
public Orient2d(Rotation2d rotation, Vec2d translation)
{
Rotation = rotation;
Translation = translation;
}