Initial commit

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/Transform.cs

@@ -0,0 +1,39 @@
+using RobotNet10.Shared.Numbers;
+
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// Transform message (geometry_msgs/Transform)
+/// Represents a transform between two coordinate frames in free space
+/// </summary>
+public struct Transform
+{
+    /// <summary>
+    /// Translation (Vector3)
+    /// </summary>
+    public Vector3 Translation { get; set; }
+
+    /// <summary>
+    /// Rotation (Quaternion)
+    /// </summary>
+    public Quaternion Rotation { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public Transform()
+    {
+        Translation = new Vector3();
+        Rotation = new Quaternion();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public Transform(Vector3 translation, Quaternion rotation)
+    {
+        Translation = translation;
+        Rotation = rotation;
+    }
+}
+