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#include <pybind11/pybind11.h>
#include <pybind11/operators.h>
#include <pybind11/eigen.h>
#include <pybind11/stl.h>
#include "manif/SO2.h"
#include "bindings_optional.h"
#include "bindings_lie_group_base.h"
#include "bindings_tangent_base.h"
namespace py = pybind11;
void wrap_SO2(py::module &m)
{
using Scalar = manif::SO2d::Scalar;
py::class_<manif::LieGroupBase<manif::SO2d>, std::unique_ptr<manif::LieGroupBase<manif::SO2d>, py::nodelete>> SO2_base(m, "_SO2Base");
py::class_<manif::TangentBase<manif::SO2Tangentd>, std::unique_ptr<manif::TangentBase<manif::SO2Tangentd>, py::nodelete>> SO2_tan_base(m, "_SO2TangentBase");
py::class_<manif::SO2d, manif::LieGroupBase<manif::SO2d>> SO2(m, "SO2", "The SO2 class");
py::class_<manif::SO2Tangentd, manif::TangentBase<manif::SO2Tangentd>> SO2_tan(m, "SO2Tangent");
//group
wrap_lie_group_base<manif::SO2d, manif::LieGroupBase<manif::SO2d>>(SO2);
SO2.def(py::init<const Scalar>());
SO2.def(py::init<const Scalar, const Scalar>());
SO2.def("transform", &manif::SO2d::transform, "Get the transformation matrix");
SO2.def("rotation", &manif::SO2d::rotation, "Get the rotation matrix");
SO2.def("real", &manif::SO2d::real);
SO2.def("imag", &manif::SO2d::imag);
SO2.def("angle", &manif::SO2d::angle);
SO2.def("normalize", &manif::SO2d::normalize);
// tangent
wrap_tangent_base<manif::SO2Tangentd, manif::TangentBase<manif::SO2Tangentd>>(SO2_tan);
SO2_tan.def(py::init<const Scalar>());
SO2_tan.def("angle", &manif::SO2Tangentd::angle);
}
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