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<div class="title">math_frwds.h</div> </div>
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<a href="math__frwds_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef mrpt_math_forwddecls_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define mrpt_math_forwddecls_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <mrpt/config.h></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html">mrpt/base/link_pragmas.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <cmath></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <cstdlib></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <algorithm></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <string></span>
<a name="l00037"></a>00037 <span class="comment"></span>
<a name="l00038"></a>00038 <span class="comment">/*! \file math_frwds.h</span>
<a name="l00039"></a>00039 <span class="comment"> * Forward declarations of all mrpt::math classes related to vectors, arrays and matrices.</span>
<a name="l00040"></a>00040 <span class="comment"> * Many of the function implementations are in ops_matrices.h, others in ops_containers.h</span>
<a name="l00041"></a>00041 <span class="comment"> */</span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="keyword">namespace </span>mrpt
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="keyword">namespace </span>utils
<a name="l00046"></a>00046 {
<a name="l00047"></a><a class="code" href="namespacemrpt_1_1utils.html#a4aa6d0388c837d159ca801e48d601449">00047</a> <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>;
<a name="l00048"></a>00048 <span class="keyword">template</span><<span class="keyword">class</span> T> <span class="keyword">inline</span> T <a class="code" href="namespacemrpt_1_1utils.html#a67cb05bb8ad4e725875a7ee54b7042ae" title="Inline function for the square of a number.">square</a>(<span class="keyword">const</span> T x);
<a name="l00049"></a>00049 }
<a name="l00050"></a>00050
<a name="l00051"></a><a class="code" href="namespacemrpt_1_1system.html">00051</a> <span class="keyword">namespace </span>system
<a name="l00052"></a>00052 {
<a name="l00053"></a>00053 std::string <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="group__mrpt__system__os.html#ga8fe63df666e65644f220e175df15c8ab" title="Returns a string describing the MRPT version including the SVN number.">MRPT_getVersion</a>();
<a name="l00054"></a>00054 }
<a name="l00055"></a>00055
<a name="l00056"></a>00056 <span class="keyword">namespace </span>poses
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 <span class="keyword">class </span>CPoint2D;
<a name="l00059"></a>00059 <span class="keyword">class </span>CPoint3D;
<a name="l00060"></a>00060 <span class="keyword">class </span>CPose2D;
<a name="l00061"></a>00061 <span class="keyword">class </span>CPose3D;
<a name="l00062"></a>00062 <span class="keyword">class </span><a class="code" href="namespacemrpt_1_1poses.html#a1d4ae634d5f0417a36ca15a4d928300d">CPose3DQuat</a>;
<a name="l00063"></a>00063 }
<a name="l00064"></a>00064
<a name="l00065"></a>00065 <span class="keyword">namespace </span>math
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 <span class="keyword">struct </span>TPoint2D;
<a name="l00068"></a>00068 <span class="keyword">struct </span>TPoint3D;
<a name="l00069"></a>00069 <span class="keyword">struct </span>TPose2D;
<a name="l00070"></a>00070 <span class="keyword">struct </span>TPose3D;
<a name="l00071"></a>00071 <span class="keyword">struct </span>TPose3DQuat;
<a name="l00072"></a>00072
<a name="l00073"></a>00073 <span class="keyword">namespace </span>detail
<a name="l00074"></a>00074 {<span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Internal resize which compiles to nothing on fixed-size matrices. */</span>
<a name="l00076"></a>00076 <span class="keyword">template</span> <<span class="keyword">typename</span> MAT,<span class="keywordtype">int</span> TypeSizeAtCompileTime>
<a name="l00077"></a>00077 <span class="keyword">struct </span>TAuxResizer {
<a name="l00078"></a><a class="code" href="structmrpt_1_1math_1_1detail_1_1_t_aux_resizer.html#aff1f86d52ea00e0c93925c4f6dc46d94">00078</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1detail_1_1_t_aux_resizer.html#aff1f86d52ea00e0c93925c4f6dc46d94">internal_resize</a>(MAT &obj, <span class="keywordtype">size_t</span> row, <span class="keywordtype">size_t</span> col) { }
<a name="l00079"></a><a class="code" href="structmrpt_1_1math_1_1detail_1_1_t_aux_resizer.html#a75c34c5171cc96d203578a1625786694">00079</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1detail_1_1_t_aux_resizer.html#a75c34c5171cc96d203578a1625786694">internal_resize</a>(MAT &obj, <span class="keywordtype">size_t</span> nsize) { }
<a name="l00080"></a>00080 };
<a name="l00081"></a>00081 <span class="keyword">template</span> <<span class="keyword">typename</span> MAT>
<a name="l00082"></a>00082 <span class="keyword">struct </span>TAuxResizer<MAT,-1> {
<a name="l00083"></a><a class="code" href="structmrpt_1_1math_1_1detail_1_1_t_aux_resizer_3_01_m_a_t_00-1_01_4.html#a631bdb514e03b500a5c3421721745bee">00083</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1detail_1_1_t_aux_resizer_3_01_m_a_t_00-1_01_4.html#a631bdb514e03b500a5c3421721745bee">internal_resize</a>(MAT &obj, <span class="keywordtype">size_t</span> row, <span class="keywordtype">size_t</span> col) { obj.derived().conservativeResize(row,col); }
<a name="l00084"></a><a class="code" href="structmrpt_1_1math_1_1detail_1_1_t_aux_resizer_3_01_m_a_t_00-1_01_4.html#a5167d774fa3a2a43c0557bc0e69f06c1">00084</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1math_1_1detail_1_1_t_aux_resizer_3_01_m_a_t_00-1_01_4.html#a5167d774fa3a2a43c0557bc0e69f06c1">internal_resize</a>(MAT &obj, <span class="keywordtype">size_t</span> nsize) { obj.derived().conservativeResize(nsize); }
<a name="l00085"></a>00085 };
<a name="l00086"></a>00086 }
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="comment"></span>
<a name="l00089"></a>00089 <span class="comment"> /*! Selection of the number format in CMatrixTemplate::saveToTextFile</span>
<a name="l00090"></a>00090 <span class="comment"> */</span>
<a name="l00091"></a><a class="code" href="namespacemrpt_1_1math.html#a5c655254dc91e1e5e5b7e43ab7572d85">00091</a> <span class="keyword">enum</span> <a class="code" href="namespacemrpt_1_1math.html#a5c655254dc91e1e5e5b7e43ab7572d85">TMatrixTextFileFormat</a>
<a name="l00092"></a>00092 {
<a name="l00093"></a><a class="code" href="namespacemrpt_1_1math.html#a5c655254dc91e1e5e5b7e43ab7572d85a40e11335e625d349cfb19366b9d23e04">00093</a> <a class="code" href="namespacemrpt_1_1math.html#a5c655254dc91e1e5e5b7e43ab7572d85a40e11335e625d349cfb19366b9d23e04" title="engineering format 'e'">MATRIX_FORMAT_ENG</a> = 0, <span class="comment">//!< engineering format '%e'</span>
<a name="l00094"></a><a class="code" href="namespacemrpt_1_1math.html#a5c655254dc91e1e5e5b7e43ab7572d85a417d954dbfac48470b7bbe455784ec19">00094</a> <span class="comment"></span> <a class="code" href="namespacemrpt_1_1math.html#a5c655254dc91e1e5e5b7e43ab7572d85a417d954dbfac48470b7bbe455784ec19" title="fixed floating point 'f'">MATRIX_FORMAT_FIXED</a> = 1, <span class="comment">//!< fixed floating point '%f'</span>
<a name="l00095"></a><a class="code" href="namespacemrpt_1_1math.html#a5c655254dc91e1e5e5b7e43ab7572d85ac1fe98ff9b96269a607dc3ae8f0edbe5">00095</a> <span class="comment"></span> <a class="code" href="namespacemrpt_1_1math.html#a5c655254dc91e1e5e5b7e43ab7572d85ac1fe98ff9b96269a607dc3ae8f0edbe5" title="intergers 'i'">MATRIX_FORMAT_INT</a> = 2 <span class="comment">//!< intergers '%i'</span>
<a name="l00096"></a>00096 <span class="comment"></span> };
<a name="l00097"></a>00097 <span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"> /** For usage in one of the constructors of CMatrixFixedNumeric or CMatrixTemplate (and derived classes), if it's not required</span>
<a name="l00099"></a>00099 <span class="comment"> to fill it with zeros at the constructor to save time. */</span>
<a name="l00100"></a><a class="code" href="namespacemrpt_1_1math.html#a27e8ae8971ff5aa1c39f1f9be334d73a">00100</a> <span class="keyword">enum</span> <a class="code" href="namespacemrpt_1_1math.html#a27e8ae8971ff5aa1c39f1f9be334d73a" title="For usage in one of the constructors of CMatrixFixedNumeric or CMatrixTemplate (and derived classes)...">TConstructorFlags_Matrices</a>
<a name="l00101"></a>00101 {
<a name="l00102"></a><a class="code" href="namespacemrpt_1_1math.html#a27e8ae8971ff5aa1c39f1f9be334d73aa28acc66160006cb691487ec89f8d266d">00102</a> <a class="code" href="namespacemrpt_1_1math.html#a27e8ae8971ff5aa1c39f1f9be334d73aa28acc66160006cb691487ec89f8d266d">UNINITIALIZED_MATRIX</a> = 0
<a name="l00103"></a>00103 };
<a name="l00104"></a>00104
<a name="l00105"></a>00105 <span class="comment">// ---------------- Forward declarations: Classes ----------------</span>
<a name="l00106"></a>00106 <span class="keyword">template</span> <<span class="keyword">class</span> T> <span class="keyword">class </span>CMatrixTemplate;
<a name="l00107"></a>00107 <span class="keyword">template</span> <<span class="keyword">class</span> T> <span class="keyword">class </span>CMatrixTemplateObjects;
<a name="l00108"></a>00108
<a name="l00109"></a><a class="code" href="math__frwds_8h.html#a62ee3e474e8ff7287af332daa529f7f8">00109</a> <span class="preprocessor">#define MRPT_MATRIX_CONSTRUCTORS_FROM_POSES(_CLASS_) \</span>
<a name="l00110"></a>00110 <span class="preprocessor"> explicit inline _CLASS_( const mrpt::math::TPose2D &p) { mrpt::math::containerFromPoseOrPoint(*this,p); } \</span>
<a name="l00111"></a>00111 <span class="preprocessor"> explicit inline _CLASS_( const mrpt::math::TPose3D &p) { mrpt::math::containerFromPoseOrPoint(*this,p); } \</span>
<a name="l00112"></a>00112 <span class="preprocessor"> explicit inline _CLASS_( const mrpt::math::TPose3DQuat &p) { mrpt::math::containerFromPoseOrPoint(*this,p); } \</span>
<a name="l00113"></a>00113 <span class="preprocessor"> explicit inline _CLASS_( const mrpt::math::TPoint2D &p) { mrpt::math::containerFromPoseOrPoint(*this,p); } \</span>
<a name="l00114"></a>00114 <span class="preprocessor"> explicit inline _CLASS_( const mrpt::math::TPoint3D &p) { mrpt::math::containerFromPoseOrPoint(*this,p); } \</span>
<a name="l00115"></a>00115 <span class="preprocessor"> explicit inline _CLASS_( const mrpt::poses::CPose2D &p) { mrpt::math::containerFromPoseOrPoint(*this,p); } \</span>
<a name="l00116"></a>00116 <span class="preprocessor"> explicit inline _CLASS_( const mrpt::poses::CPose3D &p) { mrpt::math::containerFromPoseOrPoint(*this,p); } \</span>
<a name="l00117"></a>00117 <span class="preprocessor"> explicit inline _CLASS_( const mrpt::poses::CPose3DQuat &p) { mrpt::math::containerFromPoseOrPoint(*this,p); } \</span>
<a name="l00118"></a>00118 <span class="preprocessor"> explicit inline _CLASS_( const mrpt::poses::CPoint2D &p) { mrpt::math::containerFromPoseOrPoint(*this,p); } \</span>
<a name="l00119"></a>00119 <span class="preprocessor"> explicit inline _CLASS_( const mrpt::poses::CPoint3D &p) { mrpt::math::containerFromPoseOrPoint(*this,p); }</span>
<a name="l00120"></a>00120 <span class="preprocessor"></span>
<a name="l00121"></a>00121
<a name="l00122"></a>00122 <span class="keyword">template</span> <<span class="keyword">class</span> CONTAINER1,<span class="keyword">class</span> CONTAINER2> <span class="keywordtype">void</span> <a class="code" href="namespacemrpt_1_1math.html#ae8114c744c0608670c4df1fd59be8909" title="Computes the cumulative sum of all the elements, saving the result in another container.">cumsum</a>(<span class="keyword">const</span> CONTAINER1 &in_data, CONTAINER2 &out_cumsum);
<a name="l00123"></a>00123
<a name="l00124"></a>00124 <span class="keyword">template</span> <<span class="keyword">class</span> CONTAINER> <span class="keyword">inline</span> <span class="keyword">typename</span> CONTAINER<a class="code" href="eigen__plugins_8h.html#afd07186978da46f9908364e389f8a403" title="Type of the elements.">::value_type</a> <a class="code" href="namespacemrpt_1_1math.html#a5cb3c01d8c6c1577d5e93daba2cfe62a">norm</a>(<span class="keyword">const</span> CONTAINER &v);
<a name="l00125"></a>00125 <span class="keyword">template</span> <<span class="keyword">class</span> CONTAINER> <span class="keyword">inline</span> <span class="keyword">typename</span> CONTAINER<a class="code" href="eigen__plugins_8h.html#afd07186978da46f9908364e389f8a403" title="Type of the elements.">::value_type</a> <a class="code" href="namespacemrpt_1_1math.html#af104d8452be90bb99aa78ef15168c37a">norm_inf</a>(<span class="keyword">const</span> CONTAINER &v);
<a name="l00126"></a>00126
<a name="l00127"></a>00127 <span class="keyword">template</span> <<span class="keyword">class</span> MAT_A,<span class="keyword">class</span> SKEW_3VECTOR,<span class="keyword">class</span> MAT_OUT> <span class="keywordtype">void</span> <a class="code" href="namespacemrpt_1_1math.html#ad21f2859644b754aba9a1392503a9776" title="Only for vectors/arrays "v" of length3, compute out = A * Skew(v), where Skew(v) is the skew symmetri...">multiply_A_skew3</a>(<span class="keyword">const</span> MAT_A &A,<span class="keyword">const</span> SKEW_3VECTOR &v, MAT_OUT &out);
<a name="l00128"></a>00128 <span class="keyword">template</span> <<span class="keyword">class</span> SKEW_3VECTOR,<span class="keyword">class</span> MAT_A,<span class="keyword">class</span> MAT_OUT> <span class="keywordtype">void</span> <a class="code" href="namespacemrpt_1_1math.html#a134f1d14fa12f25cbc82fa36faf59393" title="Only for vectors/arrays "v" of length3, compute out = Skew(v) * A, where Skew(v) is the skew symmetri...">multiply_skew3_A</a>(<span class="keyword">const</span> SKEW_3VECTOR &v,<span class="keyword">const</span> MAT_A &A, MAT_OUT &out);
<a name="l00129"></a>00129
<a name="l00130"></a>00130 <span class="keyword">namespace </span>detail
<a name="l00131"></a>00131 {
<a name="l00132"></a>00132 <span class="comment">// Implemented in "lightweight_geom_data.cpp"</span>
<a name="l00133"></a>00133 TPoint2D <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="namespacemrpt_1_1math_1_1detail.html#a51a3e438efb331032d34d57b02f55d58" title="Convert a pose into a light-weight structure (functional form, needed for forward declarations)...">lightFromPose</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">mrpt::poses::CPoint2D</a> &p); <span class="comment">//!< Convert a pose into a light-weight structure (functional form, needed for forward declarations)</span>
<a name="l00134"></a>00134 <span class="comment"></span> TPoint3D <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="namespacemrpt_1_1math_1_1detail.html#a51a3e438efb331032d34d57b02f55d58" title="Convert a pose into a light-weight structure (functional form, needed for forward declarations)...">lightFromPose</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">mrpt::poses::CPoint3D</a> &p); <span class="comment">//!< Convert a pose into a light-weight structure (functional form, needed for forward declarations)</span>
<a name="l00135"></a>00135 <span class="comment"></span> TPose2D <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="namespacemrpt_1_1math_1_1detail.html#a51a3e438efb331032d34d57b02f55d58" title="Convert a pose into a light-weight structure (functional form, needed for forward declarations)...">lightFromPose</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">mrpt::poses::CPose2D</a> &p); <span class="comment">//!< Convert a pose into a light-weight structure (functional form, needed for forward declarations)</span>
<a name="l00136"></a>00136 <span class="comment"></span> TPose3D <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="namespacemrpt_1_1math_1_1detail.html#a51a3e438efb331032d34d57b02f55d58" title="Convert a pose into a light-weight structure (functional form, needed for forward declarations)...">lightFromPose</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">mrpt::poses::CPose3D</a> &p); <span class="comment">//!< Convert a pose into a light-weight structure (functional form, needed for forward declarations)</span>
<a name="l00137"></a>00137 <span class="comment"></span> TPose3DQuat <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="namespacemrpt_1_1math_1_1detail.html#a51a3e438efb331032d34d57b02f55d58" title="Convert a pose into a light-weight structure (functional form, needed for forward declarations)...">lightFromPose</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html" title="A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz).">mrpt::poses::CPose3DQuat</a> &p); <span class="comment">//!< Convert a pose into a light-weight structure (functional form, needed for forward declarations)</span>
<a name="l00138"></a>00138 <span class="comment"></span>
<a name="l00139"></a>00139 <span class="keyword">template</span> <<span class="keyword">class</span> MATORG, <span class="keyword">class</span> MATDEST>
<a name="l00140"></a>00140 <span class="keywordtype">void</span> <a class="code" href="namespacemrpt_1_1math_1_1detail.html#aa19b24dfb9f42a5339d2abf59dc97f27" title="Extract a submatrix - The output matrix must be set to the required size before call.">extractMatrix</a>(
<a name="l00141"></a>00141 <span class="keyword">const</span> MATORG &M,
<a name="l00142"></a>00142 <span class="keyword">const</span> <span class="keywordtype">size_t</span> first_row,
<a name="l00143"></a>00143 <span class="keyword">const</span> <span class="keywordtype">size_t</span> first_col,
<a name="l00144"></a>00144 MATDEST &outMat);
<a name="l00145"></a>00145 }
<a name="l00146"></a>00146 <span class="comment"></span>
<a name="l00147"></a>00147 <span class="comment"> /** Conversion of poses to MRPT containers (vector/matrix) */</span>
<a name="l00148"></a>00148 <span class="keyword">template</span> <<span class="keyword">class</span> CONTAINER> CONTAINER & <a class="code" href="namespacemrpt_1_1math.html#aef8993918de72c2d8a80a6e26b68d5b0" title="Conversion of poses to MRPT containers (vector/matrix)">containerFromPoseOrPoint</a>(CONTAINER &C, <span class="keyword">const</span> TPoint2D &p);
<a name="l00149"></a>00149 <span class="keyword">template</span> <<span class="keyword">class</span> CONTAINER> CONTAINER & <a class="code" href="namespacemrpt_1_1math.html#aef8993918de72c2d8a80a6e26b68d5b0" title="Conversion of poses to MRPT containers (vector/matrix)">containerFromPoseOrPoint</a>(CONTAINER &C, <span class="keyword">const</span> TPoint3D &p);
<a name="l00150"></a>00150 <span class="keyword">template</span> <<span class="keyword">class</span> CONTAINER> CONTAINER & <a class="code" href="namespacemrpt_1_1math.html#aef8993918de72c2d8a80a6e26b68d5b0" title="Conversion of poses to MRPT containers (vector/matrix)">containerFromPoseOrPoint</a>(CONTAINER &C, <span class="keyword">const</span> TPose2D &p);
<a name="l00151"></a>00151 <span class="keyword">template</span> <<span class="keyword">class</span> CONTAINER> CONTAINER & <a class="code" href="namespacemrpt_1_1math.html#aef8993918de72c2d8a80a6e26b68d5b0" title="Conversion of poses to MRPT containers (vector/matrix)">containerFromPoseOrPoint</a>(CONTAINER &C, <span class="keyword">const</span> TPose3D &p);
<a name="l00152"></a>00152 <span class="keyword">template</span> <<span class="keyword">class</span> CONTAINER> CONTAINER & <a class="code" href="namespacemrpt_1_1math.html#aef8993918de72c2d8a80a6e26b68d5b0" title="Conversion of poses to MRPT containers (vector/matrix)">containerFromPoseOrPoint</a>(CONTAINER &C, <span class="keyword">const</span> TPose3DQuat &p);
<a name="l00153"></a>00153
<a name="l00154"></a><a class="code" href="namespacemrpt_1_1math.html#a18c53c49ad8ef398678deec9c914cde8">00154</a> <span class="keyword">template</span> <<span class="keyword">class</span> CONTAINER> <span class="keyword">inline</span> CONTAINER & <a class="code" href="namespacemrpt_1_1math.html#aef8993918de72c2d8a80a6e26b68d5b0" title="Conversion of poses to MRPT containers (vector/matrix)">containerFromPoseOrPoint</a>(CONTAINER &C, <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">mrpt::poses::CPoint2D</a> &p) { <span class="keywordflow">return</span> <a class="code" href="namespacemrpt_1_1math.html#aef8993918de72c2d8a80a6e26b68d5b0" title="Conversion of poses to MRPT containers (vector/matrix)">containerFromPoseOrPoint</a>(C, <a class="code" href="namespacemrpt_1_1math_1_1detail.html#a51a3e438efb331032d34d57b02f55d58" title="Convert a pose into a light-weight structure (functional form, needed for forward declarations)...">mrpt::math::detail::lightFromPose</a>(p)); }
<a name="l00155"></a><a class="code" href="namespacemrpt_1_1math.html#a30ecb651b9da8b9118117b1a26f485dd">00155</a> <span class="keyword">template</span> <<span class="keyword">class</span> CONTAINER> <span class="keyword">inline</span> CONTAINER & <a class="code" href="namespacemrpt_1_1math.html#aef8993918de72c2d8a80a6e26b68d5b0" title="Conversion of poses to MRPT containers (vector/matrix)">containerFromPoseOrPoint</a>(CONTAINER &C, <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">mrpt::poses::CPoint3D</a> &p) { <span class="keywordflow">return</span> <a class="code" href="namespacemrpt_1_1math.html#aef8993918de72c2d8a80a6e26b68d5b0" title="Conversion of poses to MRPT containers (vector/matrix)">containerFromPoseOrPoint</a>(C, <a class="code" href="namespacemrpt_1_1math_1_1detail.html#a51a3e438efb331032d34d57b02f55d58" title="Convert a pose into a light-weight structure (functional form, needed for forward declarations)...">mrpt::math::detail::lightFromPose</a>(p)); }
<a name="l00156"></a><a class="code" href="namespacemrpt_1_1math.html#adea561f2ee5a8a28351bbef5ffbb05b1">00156</a> <span class="keyword">template</span> <<span class="keyword">class</span> CONTAINER> <span class="keyword">inline</span> CONTAINER & <a class="code" href="namespacemrpt_1_1math.html#aef8993918de72c2d8a80a6e26b68d5b0" title="Conversion of poses to MRPT containers (vector/matrix)">containerFromPoseOrPoint</a>(CONTAINER &C, <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">mrpt::poses::CPose2D</a> &p) { <span class="keywordflow">return</span> <a class="code" href="namespacemrpt_1_1math.html#aef8993918de72c2d8a80a6e26b68d5b0" title="Conversion of poses to MRPT containers (vector/matrix)">containerFromPoseOrPoint</a>(C, <a class="code" href="namespacemrpt_1_1math_1_1detail.html#a51a3e438efb331032d34d57b02f55d58" title="Convert a pose into a light-weight structure (functional form, needed for forward declarations)...">mrpt::math::detail::lightFromPose</a>(p)); }
<a name="l00157"></a><a class="code" href="namespacemrpt_1_1math.html#a2a3b094fbf8cfb043aff2b506633de1d">00157</a> <span class="keyword">template</span> <<span class="keyword">class</span> CONTAINER> <span class="keyword">inline</span> CONTAINER & <a class="code" href="namespacemrpt_1_1math.html#aef8993918de72c2d8a80a6e26b68d5b0" title="Conversion of poses to MRPT containers (vector/matrix)">containerFromPoseOrPoint</a>(CONTAINER &C, <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">mrpt::poses::CPose3D</a> &p) { <span class="keywordflow">return</span> <a class="code" href="namespacemrpt_1_1math.html#aef8993918de72c2d8a80a6e26b68d5b0" title="Conversion of poses to MRPT containers (vector/matrix)">containerFromPoseOrPoint</a>(C, <a class="code" href="namespacemrpt_1_1math_1_1detail.html#a51a3e438efb331032d34d57b02f55d58" title="Convert a pose into a light-weight structure (functional form, needed for forward declarations)...">mrpt::math::detail::lightFromPose</a>(p)); }
<a name="l00158"></a><a class="code" href="namespacemrpt_1_1math.html#a7e658c8b9d02c03ab373070d34fcb4c7">00158</a> <span class="keyword">template</span> <<span class="keyword">class</span> CONTAINER> <span class="keyword">inline</span> CONTAINER & <a class="code" href="namespacemrpt_1_1math.html#aef8993918de72c2d8a80a6e26b68d5b0" title="Conversion of poses to MRPT containers (vector/matrix)">containerFromPoseOrPoint</a>(CONTAINER &C, <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html" title="A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz).">mrpt::poses::CPose3DQuat</a> &p) { <span class="keywordflow">return</span> <a class="code" href="namespacemrpt_1_1math.html#aef8993918de72c2d8a80a6e26b68d5b0" title="Conversion of poses to MRPT containers (vector/matrix)">containerFromPoseOrPoint</a>(C, <a class="code" href="namespacemrpt_1_1math_1_1detail.html#a51a3e438efb331032d34d57b02f55d58" title="Convert a pose into a light-weight structure (functional form, needed for forward declarations)...">mrpt::math::detail::lightFromPose</a>(p)); }
<a name="l00159"></a>00159
<a name="l00160"></a>00160
<a name="l00161"></a>00161 <span class="comment">// Vicinity classes ----------------------------------------------------</span>
<a name="l00162"></a>00162 <span class="keyword">namespace </span>detail {<span class="comment"></span>
<a name="l00163"></a>00163 <span class="comment"> /**</span>
<a name="l00164"></a>00164 <span class="comment"> * The purpose of this class is to model traits for containers, so that they can be used as return values for the function CMatrixTemplate::getVicinity.</span>
<a name="l00165"></a>00165 <span class="comment"> * This class is NOT defined for any base container, because correctness would not be guaranteed. Instead, each class must define its own specialization</span>
<a name="l00166"></a>00166 <span class="comment"> * of the template, containing two functions:</span>
<a name="l00167"></a>00167 <span class="comment"> * - static void initialize(container<T>,size_t N): must reserve space to allow at least the insertion of N*N elements, in a square fashion when appliable.</span>
<a name="l00168"></a>00168 <span class="comment"> * - static void insertInContainer(container<T>,size_t r,size_t c,const T &): must insert the given element in the container. Whenever it's possible, it</span>
<a name="l00169"></a>00169 <span class="comment"> * must insert it in the (r,c) coordinates.</span>
<a name="l00170"></a>00170 <span class="comment"> * For linear containers, the vicinity functions are guaranteed to insert elements in order, i.e., starting from the top and reading from left to right.</span>
<a name="l00171"></a>00171 <span class="comment"> */</span>
<a name="l00172"></a>00172 <span class="keyword">template</span><<span class="keyword">typename</span> T> <span class="keyword">class </span>VicinityTraits;
<a name="l00173"></a>00173 <span class="comment"></span>
<a name="l00174"></a>00174 <span class="comment"> /**</span>
<a name="l00175"></a>00175 <span class="comment"> * This huge template encapsulates a function to get the vicinity of an element, with maximum genericity. Although it's not meant to be called directly,</span>
<a name="l00176"></a>00176 <span class="comment"> * every type defining the ASSERT_ENOUGHROOM assert and the get_unsafe method will work. The assert checks if the boundaries (r-N,r+N,c-N,c+N) fit in</span>
<a name="l00177"></a>00177 <span class="comment"> * the matrix.</span>
<a name="l00178"></a>00178 <span class="comment"> * The template parameters are the following:</span>
<a name="l00179"></a>00179 <span class="comment"> * - MatrixType: the matrix or container base type, from which the vicinity is required.</span>
<a name="l00180"></a>00180 <span class="comment"> * - T: the base type of the matrix or container.</span>
<a name="l00181"></a>00181 <span class="comment"> * - ReturnType: the returning container type. The class VicinityTraits<ReturnType> must be completely defined.</span>
<a name="l00182"></a>00182 <span class="comment"> * - D: the dimension of the vicinity. Current implementations are 4, 5, 8, 9, 12, 13, 20, 21, 24 and 25, although it's easy to implement new variants.</span>
<a name="l00183"></a>00183 <span class="comment"> */</span>
<a name="l00184"></a>00184 <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType,<span class="keyword">typename</span> T,<span class="keyword">typename</span> ReturnType,<span class="keywordtype">size_t</span> D> <span class="keyword">struct </span>getVicinity;
<a name="l00185"></a>00185
<a name="l00186"></a>00186 }
<a name="l00187"></a>00187
<a name="l00188"></a>00188 <span class="comment">// Other forward decls:</span>
<a name="l00189"></a>00189 <span class="keyword">template</span> <<span class="keyword">class</span> T> T <a class="code" href="group__container__ops__grp.html#ga81ffbc190c3274c294a71aad568e98e3" title="Modifies the given angle to translate it into the [0,2pi[ range.">wrapTo2Pi</a>(T a);
<a name="l00190"></a>00190
<a name="l00191"></a>00191
<a name="l00192"></a>00192 } <span class="comment">// End of namespace</span>
<a name="l00193"></a>00193 } <span class="comment">// End of namespace</span>
<a name="l00194"></a>00194
<a name="l00195"></a>00195 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
