RigidTransform.H

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#ifndef ACTUATOR_RIGID_TRANSFORM_H
#define ACTUATOR_RIGID_TRANSFORM_H
 
#include "src/core/vs/vector_space.H"
 
namespace kynema_sgf::actuator::motion {

struct RigidTransform
{
    vs::Vector position{vs::Vector::zero()};
    vs::Tensor orientation{vs::Tensor::identity()};
 
    [[nodiscard]] vs::Vector apply_point(const vs::Vector& point) const
    {
        return position + (orientation & point);
    }
 
    [[nodiscard]] vs::Vector apply_vector(const vs::Vector& vector) const
    {
        return orientation & vector;
    }
};
 
} // namespace kynema_sgf::actuator::motion
 
#endif