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 CPOSE_H 00029 #define CPOSE_H 00030 00031 #include <mrpt/poses/CPoseOrPoint.h> 00032 00033 namespace mrpt 00034 { 00035 namespace poses 00036 { 00037 00038 DEFINE_SERIALIZABLE_PRE( CPose ) 00039 00040 /** A virtual base class to represent a pose in 2D or 3D. 00041 * 00042 * For more information refer to the <a href="http://babel.isa.uma.es/mrpt/index.php/2D_3D_Geometry">2D/3D Geometry tutorial</a> in the wiki. 00043 * 00044 * \sa CPoseOrPoint,CPose, CPoint 00045 */ 00046 class MRPTDLLIMPEXP CPose : public CPoseOrPoint 00047 { 00048 // This must be added to any CSerializable derived class: 00049 DEFINE_VIRTUAL_SERIALIZABLE( CPose ) 00050 00051 public: 00052 /** The operator \f$ a \ominus b \f$ is the pose inverse compounding operator. 00053 */ 00054 CPose3D operator - (const CPose3D& b) const; 00055 00056 /** The operator \f$ a \ominus b \f$ is the pose inverse compounding operator. 00057 */ 00058 CPoint3D operator - (const CPoint3D& b) const; 00059 00060 00061 }; // End of class def. 00062 00063 00064 } // End of namespace 00065 } // End of namespace 00066 00067 #endif
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