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 MRPTDLLIMPEXP CPose2D; 00040 class MRPTDLLIMPEXP CPose3D; 00041 class MRPTDLLIMPEXP CPoint2D; 00042 class MRPTDLLIMPEXP 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 /** This class is a "CSerializable" wrapper for "CMatrixFloat". 00052 */ 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: 00058 /** Constructor */ 00059 CMatrix() : CMatrixFloat(1,1) 00060 { } 00061 00062 /** Constructor */ 00063 CMatrix(size_t row, size_t col) : CMatrixFloat(row,col) 00064 { } 00065 00066 /** Copy constructor 00067 */ 00068 CMatrix( const CMatrixFloat &m ) : CMatrixFloat(m) 00069 { } 00070 00071 /** Copy constructor 00072 */ 00073 CMatrix( const CMatrixTemplateNumeric<double> &m ) : CMatrixFloat(0,0) 00074 { 00075 *this = m; 00076 } 00077 00078 /** Constructor from a mrpt::poses::CPose2D, which generates a 3x1 matrix \f$ [x y \phi]^T \f$ 00079 */ 00080 explicit CMatrix( const mrpt::poses::CPose2D &p) : CMatrixFloat(p) {} 00081 00082 /** Constructor from a mrpt::poses::CPose6D, which generates a 6x1 matrix \f$ [x y z yaw pitch roll]^T \f$ 00083 */ 00084 explicit CMatrix( const mrpt::poses::CPose3D &p) : CMatrixFloat(p) {} 00085 00086 /** Constructor from a mrpt::poses::CPoint2D, which generates a 2x1 matrix \f$ [x y]^T \f$ 00087 */ 00088 explicit CMatrix( const mrpt::poses::CPoint2D &p) : CMatrixFloat(p) {} 00089 00090 /** Constructor from a mrpt::poses::CPoint3D, which generates a 3x1 matrix \f$ [x y z]^T \f$ 00091 */ 00092 explicit CMatrix( const mrpt::poses::CPoint3D &p) : CMatrixFloat(p) {} 00093 00094 /** Assignment operator for float matrixes 00095 */ 00096 CMatrix & operator = (const CMatrixFloat& m) 00097 { 00098 CMatrixFloat::operator =(m); 00099 return *this; 00100 } 00101 00102 /** Assignment operator for double matrixes 00103 */ 00104 CMatrix &operator = (const CMatrixTemplateNumeric<double>& m) 00105 { 00106 setSize(m.getRowCount(),m.getColCount()); 00107 00108 for (size_t i=0;i<m.getRowCount();i++) 00109 for (size_t j=0;j<m.getColCount();j++) 00110 set_unsafe(i,j, static_cast<float>( m.get_unsafe(i,j) ) ); 00111 return *this; 00112 } 00113 00114 }; // end of class definition 00115 00116 } // End of namespace 00117 } // End of namespace 00118 00119 #endif
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