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 CPOINT3D_H 00029 #define CPOINT3D_H 00030 00031 #include <mrpt/poses/CPoint.h> 00032 00033 namespace mrpt 00034 { 00035 namespace poses 00036 { 00037 class CPose3D; 00038 00039 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPoint3D, CPoint ) 00040 00041 00149 class MRPTDLLIMPEXP CPoint3D : public CPoint 00150 { 00151 // This must be added to any CSerializable derived class: 00152 DEFINE_SERIALIZABLE( CPoint3D ) 00153 protected: 00154 mutable math::CMatrixDouble aux_HM; 00155 public: 00158 CPoint3D(const double & x=0,const double & y=0,const double & z=0); 00159 00162 CPoint3D( const CPoint2D &); 00163 00166 explicit CPoint3D( const CPose3D &); 00167 00170 explicit CPoint3D( const CPose2D &); 00171 00174 CPoint3D operator - (const CPose3D& b) const; 00175 00178 CPoint3D operator - (const CPoint3D& b) const; 00179 00182 CPoint3D operator + (const CPoint3D& b) const; 00183 00186 CPose3D operator + (const CPose3D& b) const; 00187 00193 const math::CMatrixDouble& getHomogeneousMatrix() const; 00194 00200 void getHomogeneousMatrix(const math::CMatrixDouble *& ptrHM ) const; 00201 00202 }; // End of class def. 00203 00204 00205 std::ostream MRPTDLLIMPEXP & operator << (std::ostream& o, const CPoint3D& p); 00206 00207 } // End of namespace 00208 } // End of namespace 00209 00210 #endif
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