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;
    }
}