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CPose.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                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
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   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
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   |   MRPT is distributed in the hope that it will be useful,                 |
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   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
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   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
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   +---------------------------------------------------------------------------+ */
#ifndef CPOSE_H
#define CPOSE_H

#include <mrpt/poses/CPoseOrPoint.h>

namespace mrpt
{
namespace poses
{

        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPose, mrpt::utils::CSerializable )

        /** A virtual base class to represent a pose in 2D or 3D.
         *
         *   For more information refer to the <a href="http://www.mrpt.org/2D_3D_Geometry">2D/3D Geometry tutorial</a> in the wiki.
         *
         * \sa CPoseOrPoint,CPose, CPoint
         */
        class BASE_IMPEXP  CPose : public CPoseOrPoint
        {
                // This must be added to any CSerializable derived class:
                DEFINE_VIRTUAL_SERIALIZABLE( CPose )

        public:
                 /** The operator \f$ a \ominus b \f$ is the pose inverse compounding operator.
                   */
                 CPose3D  operator - (const CPose3D& b) const;

        }; // End of class def.


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

#endif

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