/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2026, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "math-precomp.h"  // Precompiled headers
//
#include <mrpt/core/bits_math.h>
#include <mrpt/math/TPose2D.h>
#include <mrpt/math/TTwist2D.h>
#include <mrpt/serialization/CArchive.h>

using namespace mrpt::math;
using mrpt::DEG2RAD;
using mrpt::RAD2DEG;

static_assert(std::is_trivially_copyable_v<TTwist2D>);

void TTwist2D::asString(std::string& s) const
{
  s = mrpt::format("[%f %f %f]", vx, vy, RAD2DEG(omega));
}
void TTwist2D::fromString(const std::string& s)
{
  CMatrixDouble m;
  if (!m.fromMatlabStringFormat(s))
    THROW_EXCEPTION_FMT("Malformed expression in ::fromString, s=\"%s\"", s.c_str());
  ASSERTMSG_(m.rows() == 1 && m.cols() == 3, "Wrong size of vector in ::fromString");
  vx = m(0, 0);
  vy = m(0, 1);
  omega = DEG2RAD(m(0, 2));
}
// Transform the (vx,vy) components for a counterclockwise rotation of `ang`
// radians
void TTwist2D::rotate(const double ang)
{
  const double nvx = vx * cos(ang) - vy * sin(ang);
  const double nvy = vx * sin(ang) + vy * cos(ang);
  vx = nvx;
  vy = nvy;
}
bool TTwist2D::operator==(const TTwist2D& o) const
{
  return vx == o.vx && vy == o.vy && omega == o.omega;
}
bool TTwist2D::operator!=(const TTwist2D& o) const { return !(*this == o); }
mrpt::math::TPose2D TTwist2D::operator*(const double dt) const
{
  return mrpt::math::TPose2D(vx * dt, vy * dt, omega * dt);
}

mrpt::serialization::CArchive& mrpt::math::operator>>(
    mrpt::serialization::CArchive& in, mrpt::math::TTwist2D& o)
{
  for (size_t i = 0; i < o.size(); i++) in >> o[i];
  return in;
}
mrpt::serialization::CArchive& mrpt::math::operator<<(
    mrpt::serialization::CArchive& out, const mrpt::math::TTwist2D& o)
{
  for (size_t i = 0; i < o.size(); i++) out << o[i];
  return out;
}
