00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2010 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/CMatrixFixedNumeric.h> 00034 #include <mrpt/math/CVectorTemplate.h> 00035 #include <mrpt/utils/CStream.h> 00036 00037 namespace mrpt 00038 { 00039 00040 namespace math 00041 { 00042 00043 // This must be added to any CSerializable derived class: 00044 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CMatrix, mrpt::utils::CSerializable ) 00045 00046 /** This class is a "CSerializable" wrapper for "CMatrixFloat". 00047 */ 00048 class BASE_IMPEXP CMatrix : public mrpt::utils::CSerializable, public CMatrixFloat 00049 { 00050 // This must be added to any CSerializable derived class: 00051 DEFINE_SERIALIZABLE( CMatrix ) 00052 public: 00053 /** Constructor */ 00054 CMatrix() : CMatrixFloat(1,1) 00055 { } 00056 00057 /** Constructor */ 00058 CMatrix(size_t row, size_t col) : CMatrixFloat(row,col) 00059 { } 00060 00061 /** Copy constructor 00062 */ 00063 CMatrix( const CMatrixFloat &m ) : CMatrixFloat(m) 00064 { } 00065 00066 /** Copy constructor 00067 */ 00068 CMatrix( const CMatrixTemplateNumeric<double> &m ) : CMatrixFloat(0,0) 00069 { 00070 *this = m; 00071 } 00072 00073 /** Constructor from a TPose2D, which generates a 3x1 matrix \f$ [x y \phi]^T \f$ 00074 */ 00075 explicit CMatrix( const TPose2D &p) : CMatrixFloat(p) {} 00076 00077 /** Constructor from a mrpt::poses::CPose6D, which generates a 6x1 matrix \f$ [x y z yaw pitch roll]^T \f$ 00078 */ 00079 explicit CMatrix( const TPose3D &p) : CMatrixFloat(p) {} 00080 00081 /** Constructor from a TPoint2D, which generates a 2x1 matrix \f$ [x y]^T \f$ 00082 */ 00083 explicit CMatrix( const TPoint2D &p) : CMatrixFloat(p) {} 00084 00085 /** Constructor from a TPoint3D, which generates a 3x1 matrix \f$ [x y z]^T \f$ 00086 */ 00087 explicit CMatrix( const TPoint3D &p) : CMatrixFloat(p) {} 00088 00089 /** Assignment operator for float matrixes 00090 */ 00091 template <class OTHERMAT> 00092 inline CMatrix & operator = (const OTHERMAT& m) 00093 { 00094 CMatrixFloat::operator =(m); 00095 return *this; 00096 } 00097 00098 }; // end of class definition 00099 00100 } // End of namespace 00101 } // End of namespace 00102 00103 #endif
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