00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CMATRIX_H 00029 #define CMATRIX_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/math/CMatrixTemplateNumeric.h> 00033 #include <mrpt/math/CVectorTemplate.h> 00034 00035 namespace mrpt 00036 { 00037 namespace poses 00038 { 00039 class CPose2D; 00040 class CPose3D; 00041 class CPoint2D; 00042 class CPoint3D; 00043 } 00044 00045 namespace math 00046 { 00047 00048 // This must be added to any CSerializable derived class: 00049 DEFINE_SERIALIZABLE_PRE( CMatrix ) 00050 00051 00053 class MRPTDLLIMPEXP CMatrix : public mrpt::utils::CSerializable, public CMatrixFloat 00054 { 00055 // This must be added to any CSerializable derived class: 00056 DEFINE_SERIALIZABLE( CMatrix ) 00057 public: 00060 CMatrix(size_t row = 1, size_t col = 1) : CMatrixFloat(row,col) 00061 { 00062 } 00063 00066 CMatrix( const CMatrixFloat &m ) : CMatrixFloat(m) 00067 { 00068 } 00069 00072 CMatrix( const CMatrixTemplateNumeric<double> &m ) : CMatrixFloat(0,0) 00073 { 00074 *this = m; 00075 } 00076 00079 explicit CMatrix( const mrpt::poses::CPose2D &p); 00080 00083 explicit CMatrix( const mrpt::poses::CPose3D &p); 00084 00087 explicit CMatrix( const mrpt::poses::CPoint2D &p); 00088 00091 explicit CMatrix( const mrpt::poses::CPoint3D &p); 00092 00095 CMatrix & operator = (const CMatrixFloat& m) 00096 { 00097 CMatrixFloat::operator =(m); 00098 return *this; 00099 } 00100 00103 CMatrix &operator = (const CMatrixTemplateNumeric<double>& m) 00104 { 00105 setSize(m.getRowCount(),m.getColCount()); 00106 00107 for (size_t i=0;i<m.getRowCount();i++) 00108 for (size_t j=0;j<m.getColCount();j++) 00109 set_unsafe(i,j, static_cast<float>( m.get_unsafe(i,j) ) ); 00110 return *this; 00111 } 00112 00113 }; // end of class definition 00114 00115 } // End of namespace 00116 } // End of namespace 00117 00118 #endif
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