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CMatrixD.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
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   |                   http://mrpt.sourceforge.net/                            |
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   |   Copyright (C) 2005-2010  University of Malaga                           |
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   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
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   |  This file is part of the MRPT project.                                   |
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   |     MRPT is free software: you can redistribute it and/or modify          |
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   +---------------------------------------------------------------------------+ */
#ifndef CMATRIXD_H
#define CMATRIXD_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/math/CMatrixTemplateNumeric.h>
#include <mrpt/math/CVectorTemplate.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/utils/utils_defs.h>


namespace mrpt
{
        namespace math
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CMatrixD, mrpt::utils::CSerializable )

                /**  This class is a "CSerializable" wrapper for "CMatrixTemplateNumeric<double>".
                 */
                class BASE_IMPEXP CMatrixD : public mrpt::utils::CSerializable, public CMatrixTemplateNumeric<double>
                {
                        // This must be added to any CSerializable derived class:
                        DEFINE_SERIALIZABLE( CMatrixD )
                public:
                public:
                        /** Constructor */
                        CMatrixD() : CMatrixTemplateNumeric<double>(1,1)
                        { }

                        /** Constructor */
                        CMatrixD(size_t row, size_t col) : CMatrixTemplateNumeric<double>(row,col)
                        { }

                        /** Copy constructor */
                        CMatrixD( const CMatrixTemplateNumeric<double> &m ) : CMatrixTemplateNumeric<double>(m)
                        { }

                        /** Copy constructor
                          */
                        CMatrixD( const CMatrixFloat &m ) : CMatrixTemplateNumeric<double>(0,0)
                        {
                                *this = m;
                        }

                        /** Constructor from a TPose2D, which generates a 3x1 matrix \f$ [x y \phi]^T \f$
                           */
                        explicit CMatrixD( const TPose2D &p) : CMatrixDouble(p) {}

                        /** Constructor from a TPose3D, which generates a 6x1 matrix \f$ [x y z yaw pitch roll]^T \f$
                           */
                        explicit CMatrixD( const TPose3D &p) : CMatrixDouble(p) {}

                        /** Constructor from a TPoint2D, which generates a 2x1 matrix \f$ [x y]^T \f$
                           */
                        explicit CMatrixD( const TPoint2D &p) : CMatrixDouble(p) {}

                        /** Constructor from a mrpt::poses::CPoint3D, which generates a 3x1 matrix \f$ [x y z]^T \f$
                           */
                        explicit CMatrixD( const TPoint3D &p) : CMatrixDouble(p) {}


                        /** Assignment operator for float matrixes
                        */
                        template <class OTHERMAT>
                        inline CMatrixD & operator = (const OTHERMAT& m)
                        {
                                CMatrixDouble::operator =(m);
                                return *this;
                        }

                }; // end of class definition

        } // End of namespace
} // End of namespace

#endif

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