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 CMATRIXD_H 00029 #define CMATRIXD_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/math/CMatrixTemplateNumeric.h> 00033 #include <mrpt/math/CVectorTemplate.h> 00034 #include <mrpt/utils/utils_defs.h> 00035 00036 00037 namespace mrpt 00038 { 00039 namespace poses 00040 { 00041 class CPose2D; 00042 class CPose3D; 00043 class CPoint2D; 00044 class CPoint3D; 00045 } 00046 00047 namespace math 00048 { 00049 // This must be added to any CSerializable derived class: 00050 DEFINE_SERIALIZABLE_PRE( CMatrixD ) 00051 00052 /** This class is a "CSerializable" wrapper for "CMatrixTemplateNumeric<double>". 00053 */ 00054 class MRPTDLLIMPEXP CMatrixD : public mrpt::utils::CSerializable, public CMatrixTemplateNumeric<double> 00055 { 00056 // This must be added to any CSerializable derived class: 00057 DEFINE_SERIALIZABLE( CMatrixD ) 00058 public: 00059 public: 00060 /** Constructor */ 00061 CMatrixD() : CMatrixTemplateNumeric<double>(1,1) 00062 { } 00063 00064 /** Constructor */ 00065 CMatrixD(size_t row, size_t col) : CMatrixTemplateNumeric<double>(row,col) 00066 { } 00067 00068 /** Copy constructor */ 00069 CMatrixD( const CMatrixTemplateNumeric<double> &m ) : CMatrixTemplateNumeric<double>(m) 00070 { } 00071 00072 /** Copy constructor 00073 */ 00074 CMatrixD( const CMatrixFloat &m ) : CMatrixTemplateNumeric<double>(0,0) 00075 { 00076 *this = m; 00077 } 00078 00079 /** Constructor from a mrpt::poses::CPose2D, which generates a 3x1 matrix \f$ [x y \phi]^T \f$ 00080 */ 00081 explicit CMatrixD( const mrpt::poses::CPose2D &p) : CMatrixDouble(p) {} 00082 00083 /** Constructor from a mrpt::poses::CPose6D, which generates a 6x1 matrix \f$ [x y z yaw pitch roll]^T \f$ 00084 */ 00085 explicit CMatrixD( const mrpt::poses::CPose3D &p) : CMatrixDouble(p) {} 00086 00087 /** Constructor from a mrpt::poses::CPoint2D, which generates a 2x1 matrix \f$ [x y]^T \f$ 00088 */ 00089 explicit CMatrixD( const mrpt::poses::CPoint2D &p) : CMatrixDouble(p) {} 00090 00091 /** Constructor from a mrpt::poses::CPoint3D, which generates a 3x1 matrix \f$ [x y z]^T \f$ 00092 */ 00093 explicit CMatrixD( const mrpt::poses::CPoint3D &p) : CMatrixDouble(p) {} 00094 00095 00096 00097 /** Assignment operator 00098 */ 00099 CMatrixD & operator = (const CMatrixTemplateNumeric<double>& m) 00100 { 00101 CMatrixTemplateNumeric<double>::operator =(m); 00102 return *this; 00103 } 00104 00105 /** Assignment operator 00106 */ 00107 CMatrixD & operator = (const CMatrixFloat& m) 00108 { 00109 setSize(m.getRowCount(),m.getColCount()); 00110 00111 for (size_t i=0;i<m.getRowCount();i++) 00112 for (size_t j=0;j<m.getColCount();j++) 00113 (*this)(i,j) = static_cast<double>( m(i,j) ); 00114 return *this; 00115 } 00116 00117 }; // end of class definition 00118 00119 00120 00121 } // End of namespace 00122 } // End of namespace 00123 00124 #endif
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