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<div class="title">CPoint2D.h</div> </div>
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<a href="_c_point2_d_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 CPOINT2D_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CPOINT2D_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_point_8h.html">mrpt/poses/CPoint.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="keyword">namespace </span>mrpt
<a name="l00035"></a>00035 {
<a name="l00036"></a>00036 <span class="keyword">namespace </span>poses
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">class </span>CPose2D;
<a name="l00039"></a>00039
<a name="l00040"></a><a class="code" href="structmrpt_1_1poses_1_1_c_point2_d_ptr.html#a43c845e0da1aca30c0381c5dbf28c94e">00040</a> <a class="code" href="_c_serializable_8h.html#a5155da97198db5986e6369e2fe7a3539" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE</a>( <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">CPoint2D</a> )
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="comment">/** A class used to store a 2D point.</span>
<a name="l00043"></a>00043 <span class="comment"> *</span>
<a name="l00044"></a>00044 <span class="comment"> * For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer</span>
<a name="l00045"></a>00045 <span class="comment"> * to the <a href="http://www.mrpt.org/2D_3D_Geometry" >2D/3D Geometry tutorial</a> in the wiki.</span>
<a name="l00046"></a>00046 <span class="comment"> *</span>
<a name="l00047"></a>00047 <span class="comment"> * <div align=center></span>
<a name="l00048"></a>00048 <span class="comment"> * <img src="CPoint2D.gif"></span>
<a name="l00049"></a>00049 <span class="comment"> * </div></span>
<a name="l00050"></a>00050 <span class="comment"> *</span>
<a name="l00051"></a>00051 <span class="comment"> * \sa CPoseOrPoint,CPose, CPoint</span>
<a name="l00052"></a>00052 <span class="comment"> * \ingroup poses_grp</span>
<a name="l00053"></a>00053 <span class="comment"> */</span>
<a name="l00054"></a>00054 class <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">CPoint2D</a> : public <a class="code" href="classmrpt_1_1poses_1_1_c_point.html" title="A base class for representing a point in 2D or 3D.">CPoint</a><<a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">CPoint2D</a>>, public mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">CSerializable</a>
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00057"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a06168263d278bc34b85157ffd32f2f95">00057</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( CPoint2D )
<a name="l00058"></a>00058
<a name="l00059"></a>00059 public:
<a name="l00060"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a9443bfeff6cb64236c9496afebb55111">00060</a> mrpt::math::<a class="code" href="classmrpt_1_1math_1_1_c_array_double.html" title="A partial specialization of CArrayNumeric for double numbers.">CArrayDouble</a><2> m_coords; <span class="comment">//!< [x,y]</span>
<a name="l00061"></a>00061 <span class="comment"></span>
<a name="l00062"></a>00062 public:<span class="comment"></span>
<a name="l00063"></a>00063 <span class="comment"> /** Constructor for initializing point coordinates. */</span>
<a name="l00064"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a2330ac4b39d951ffcffac0ce1733f6fa">00064</a> inline CPoint2D(<span class="keywordtype">double</span> x=0,<span class="keywordtype">double</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>=0) { m_coords[0]=x; m_coords[1]=<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>; }
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** Constructor from x/y coordinates given from other pose. */</span>
<a name="l00067"></a>00067 <span class="keyword">template</span> <<span class="keyword">class</span> OTHERCLASS>
<a name="l00068"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#ab4e94e6087f03b3fc4e99f36ce5b112b">00068</a> <span class="keyword">inline</span> <span class="keyword">explicit</span> CPoint2D(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_or_point.html" title="The base template class for 2D & 3D points and poses.">CPoseOrPoint<OTHERCLASS></a> &b)
<a name="l00069"></a>00069 {
<a name="l00070"></a>00070 m_coords[0]=b.<a class="code" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#af3506e31b659334e6992f5cd9ac657b7" title="Common members of all points & poses classes.">x</a>();
<a name="l00071"></a>00071 m_coords[1]=b.<a class="code" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a912d9a0a05f236fdb947b6627e7349ba">y</a>();
<a name="l00072"></a>00072 }
<a name="l00073"></a>00073 <span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment"> /** Implicit constructor from lightweight type. */</span>
<a name="l00075"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a7a00afb4122b1a8c2d79e4602dbbc605">00075</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a7a00afb4122b1a8c2d79e4602dbbc605" title="Implicit constructor from lightweight type.">CPoint2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">mrpt::math::TPoint2D</a> &o) { m_coords[0]=o.<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a084825c8b4d02df7b89d66f8b08e26f2" title="X coordinate.">x</a>; m_coords[1]=o.<a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html#a1b6b3c44215ec8285ae97ff1ad1f6fcf" title="Y coordinate.">y</a>; }
<a name="l00076"></a>00076 <span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment"> /** Explicit constructor from lightweight type (loses the z coord). */</span>
<a name="l00078"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a97bf0b8700a7f8090135e754c74fdb88">00078</a> <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a97bf0b8700a7f8090135e754c74fdb88" title="Explicit constructor from lightweight type (loses the z coord).">CPoint2D</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &o) { m_coords[0]=o.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>; m_coords[1]=o.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>; m_coords[2]=0; }
<a name="l00079"></a>00079 <span class="comment"></span>
<a name="l00080"></a>00080 <span class="comment"> /** The operator D="this"-b is the pose inverse compounding operator,</span>
<a name="l00081"></a>00081 <span class="comment"> * the resulting points "D" fulfils: "this" = b + D, so that: b == a + (b-a)</span>
<a name="l00082"></a>00082 <span class="comment"> */</span>
<a name="l00083"></a>00083 CPoint2D <a class="code" href="namespacemrpt_1_1poses.html#a678c1606b35876eae036755599a22d84" title="Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x...">operator - </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.">CPose2D</a>& b) <span class="keyword">const</span>;
<a name="l00084"></a>00084
<a name="l00085"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#ab37a714d4108d8370d513c6b4ad05022aeac0d3abe86c48267f2136d5d10516af">00085</a> <span class="keyword">enum</span> { is_3D_val = 0 };
<a name="l00086"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#ab432c4914be32a51055a3744b456789c">00086</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#ab432c4914be32a51055a3744b456789c">is_3D</a>() { <span class="keywordflow">return</span> is_3D_val!=0; }
<a name="l00087"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a2d0122d71ec88c2427aef1b3cd876aeea361aa83b58f144335055619bd0e5eb5a">00087</a> <span class="keyword">enum</span> { is_PDF_val = 0 };
<a name="l00088"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#ac8a3b7f5e82ebe9a758ce15aa2850569">00088</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#ac8a3b7f5e82ebe9a758ce15aa2850569">is_PDF</a>() { <span class="keywordflow">return</span> is_PDF_val!=0; }
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** @name STL-like methods and typedefs</span>
<a name="l00091"></a>00091 <span class="comment"> @{ */</span>
<a name="l00092"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#aa3b5cffeccdc3da689cdc1553611f205">00092</a> <span class="keyword">typedef</span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#aa3b5cffeccdc3da689cdc1553611f205" title="The type of the elements.">value_type</a>; <span class="comment">//!< The type of the elements</span>
<a name="l00093"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#adfbd2d03b2d60a2c434237d51b28c649">00093</a> <span class="comment"></span> <span class="keyword">typedef</span> <span class="keywordtype">double</span>& <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#adfbd2d03b2d60a2c434237d51b28c649">reference</a>;
<a name="l00094"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a739d94cf09f130bba7408d3ff3e5e4b2">00094</a> <span class="keyword">typedef</span> <span class="keyword">const</span> <span class="keywordtype">double</span>& <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a739d94cf09f130bba7408d3ff3e5e4b2">const_reference</a>;
<a name="l00095"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a9fb5ccc13ce2801180f2a241d9c5e16f">00095</a> <span class="keyword">typedef</span> std::size_t <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a9fb5ccc13ce2801180f2a241d9c5e16f">size_type</a>;
<a name="l00096"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a36d7b978c1c8b29e787949fb012c87b2">00096</a> <span class="keyword">typedef</span> std::ptrdiff_t <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a36d7b978c1c8b29e787949fb012c87b2">difference_type</a>;
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="comment">// size is constant</span>
<a name="l00099"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a1c14228c725c2b5e98a64b1968ee5680a801e07306f33e55ef6379931575cf185">00099</a> <span class="keyword">enum</span> { <a class="code" href="eigen__plugins_8h.html#a99fb83031ce9923c84392b4e92f956b5ad4a8f9f8c603d29a20ca6f9c056dd4da">static_size</a> = 2 };
<a name="l00100"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a3494ed59ed813d18f24f3b8e17c3254a">00100</a> <span class="keyword">static</span> <span class="keyword">inline</span> size_type <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a3494ed59ed813d18f24f3b8e17c3254a">size</a>() { <span class="keywordflow">return</span> <a class="code" href="eigen__plugins_8h.html#a99fb83031ce9923c84392b4e92f956b5ad4a8f9f8c603d29a20ca6f9c056dd4da">static_size</a>; }
<a name="l00101"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#ab3c88b3abd4e961ef8d8a855c946d5a5">00101</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#ab3c88b3abd4e961ef8d8a855c946d5a5">empty</a>() { <span class="keywordflow">return</span> <span class="keyword">false</span>; }
<a name="l00102"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a37befdac19e7de9a40d993c4087829fa">00102</a> <span class="keyword">static</span> <span class="keyword">inline</span> size_type <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a37befdac19e7de9a40d993c4087829fa">max_size</a>() { <span class="keywordflow">return</span> <a class="code" href="eigen__plugins_8h.html#a99fb83031ce9923c84392b4e92f956b5ad4a8f9f8c603d29a20ca6f9c056dd4da">static_size</a>; }
<a name="l00103"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a38ebe8e75f11122edf9e3a24d9c6f4cf">00103</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html#a38ebe8e75f11122edf9e3a24d9c6f4cf">resize</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> n) { <span class="keywordflow">if</span> (n!=<a class="code" href="eigen__plugins_8h.html#a99fb83031ce9923c84392b4e92f956b5ad4a8f9f8c603d29a20ca6f9c056dd4da">static_size</a>) <span class="keywordflow">throw</span> <a class="code" href="classstd_1_1logic__error.html" title="STL class.">std::logic_error</a>(<a class="code" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">format</a>(<span class="stringliteral">"Try to change the size of CPoint2D to %u."</span>,static_cast<unsigned>(n))); }<span class="comment"></span>
<a name="l00104"></a>00104 <span class="comment"> /** @} */</span>
<a name="l00105"></a>00105
<a name="l00106"></a>00106 }; <span class="comment">// End of class def.</span>
<a name="l00107"></a>00107
<a name="l00108"></a>00108
<a name="l00109"></a>00109 } <span class="comment">// End of namespace</span>
<a name="l00110"></a>00110 } <span class="comment">// End of namespace</span>
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="preprocessor">#endif</span>
</pre></div></div>
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