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 CPOINT2D_H 00029 #define CPOINT2D_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/poses/CPoint.h> 00033 00034 namespace mrpt 00035 { 00036 namespace poses 00037 { 00038 class CPose2D; 00039 class CPose3D; 00040 00041 00042 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPoint2D, CPoint ) 00043 00044 00150 class MRPTDLLIMPEXP CPoint2D : public CPoint 00151 { 00152 // This must be added to any CSerializable derived class: 00153 DEFINE_SERIALIZABLE( CPoint2D ) 00154 00155 protected: 00156 mutable math::CMatrixDouble aux_HM; 00157 00158 public: 00161 CPoint2D(double x=0,double y=0); 00162 00165 explicit CPoint2D( const CPose2D &o ); 00166 00169 explicit CPoint2D( const CPose3D &o ); 00170 00174 CPoint2D operator - (const CPose2D& b) const; 00175 00181 const math::CMatrixDouble & getHomogeneousMatrix() const; 00182 00188 void getHomogeneousMatrix(const math::CMatrixDouble *& ptrHM ) const; 00189 00190 }; // End of class def. 00191 00192 00195 std::ostream MRPTDLLIMPEXP &operator << (std::ostream& o, const CPoint2D& p); 00196 00198 bool MRPTDLLIMPEXP operator < (const CPoint2D &a, const CPoint2D &b); 00199 00200 } // End of namespace 00201 } // End of namespace 00202 00203 #endif
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