@using Microsoft.AspNetCore.Components

<!-- Robot pose visualization component. SVG trong MapLocalization dùng viewBox (met), scaleY(-1); x, y, r đơn vị mét. -->
<g transform="@Transform">
    <!-- Robot image (width: 1.106m, height: 0.606m) -->
    <image href="images/AS_AGV SLAM V3-CK 02.png"
           width="1.106"
           height="0.606"
           transform="translate(-0.553, -0.303)" />
</g>

@code {
    private double _currentX = -1000;
    private double _currentY = -1000;
    private double _yaw = 0;

    /// <summary>
    /// Transform string for SVG group element
    /// </summary>
    private string Transform => $"translate({_currentX:F6},{_currentY:F6}) rotate({_yaw * 180.0 / Math.PI:F2})";

    /// <summary>
    /// Update robot pose với vị trí và góc quay
    /// </summary>
    /// <param name="x">X position trong world coordinates</param>
    /// <param name="y">Y position trong world coordinates</param>
    /// <param name="yaw">Yaw angle trong radians</param>
    public void UpdatePose(double x, double y, double yaw)
    {
        _currentX = x;
        _currentY = y;
        _yaw = yaw;
        StateHasChanged();
    }
}