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<div class="title">CPoint.h</div> </div>
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<a href="_c_point_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 CPOINT_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CPOINT_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_pose_or_point_8h.html">mrpt/poses/CPoseOrPoint.h</a>></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="keyword">namespace </span>mrpt
<a name="l00034"></a>00034 {
<a name="l00035"></a>00035 <span class="keyword">namespace </span>poses
<a name="l00036"></a>00036 {<span class="comment"></span>
<a name="l00037"></a>00037 <span class="comment"> /** A base class for representing a point in 2D or 3D.</span>
<a name="l00038"></a>00038 <span class="comment"> * For more information refer to the <a href="http://www.mrpt.org/2D_3D_Geometry">2D/3D Geometry tutorial</a> online.</span>
<a name="l00039"></a>00039 <span class="comment"> * \note This class is based on the CRTP design pattern</span>
<a name="l00040"></a>00040 <span class="comment"> * \sa CPoseOrPoint, CPose</span>
<a name="l00041"></a>00041 <span class="comment"> * \ingroup poses_grp</span>
<a name="l00042"></a>00042 <span class="comment"> */</span>
<a name="l00043"></a>00043 <span class="keyword">template</span> <<span class="keyword">class</span> DERIVEDCLASS>
<a name="l00044"></a>00044 <span class="keyword">class </span>CPoint : <span class="keyword">public</span> CPoseOrPoint<DERIVEDCLASS>
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00047"></a>00047 <span class="comment"> /** @name Methods common to all 2D or 3D points</span>
<a name="l00048"></a>00048 <span class="comment"> @{ */</span>
<a name="l00049"></a>00049 <span class="comment"></span>
<a name="l00050"></a>00050 <span class="comment"> /** Scalar addition of all coordinates.</span>
<a name="l00051"></a>00051 <span class="comment"> * This is diferent from poses/point composition, which is implemented as "+" operators in classes derived from "CPose"</span>
<a name="l00052"></a>00052 <span class="comment"> */</span>
<a name="l00053"></a>00053 <span class="keyword">template</span> <<span class="keyword">class</span> OTHERCLASS>
<a name="l00054"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point.html#a3e4975121395a7c8f8efa6a2e536971e">00054</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point.html#a3e4975121395a7c8f8efa6a2e536971e" title="Scalar addition of all coordinates.">AddComponents</a>(<span class="keyword">const</span> OTHERCLASS &b)
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056 <span class="keyword">const</span> <span class="keywordtype">int</span> dims = std::min( <span class="keywordtype">size_t</span>(<a class="code" href="eigen__plugins_8h.html#a99fb83031ce9923c84392b4e92f956b5ad4a8f9f8c603d29a20ca6f9c056dd4da">DERIVEDCLASS::static_size</a>), <span class="keywordtype">size_t</span>(OTHERCLASS::is3DPoseOrPoint() ? 3:2));
<a name="l00057"></a>00057 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i<dims;i++)
<a name="l00058"></a>00058 static_cast<DERIVEDCLASS*>(<span class="keyword">this</span>)->m_coords[i]+= <span class="keyword">static_cast<</span><span class="keyword">const </span>OTHERCLASS*<span class="keyword">></span>(&b)->m_coords[i];
<a name="l00059"></a>00059 }
<a name="l00060"></a>00060 <span class="comment"></span>
<a name="l00061"></a>00061 <span class="comment"> /** Scalar multiplication. */</span>
<a name="l00062"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point.html#ad1c5229e7462c31eeb01e0ec7e002742">00062</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point.html#ad1c5229e7462c31eeb01e0ec7e002742" title="Scalar multiplication.">operator *=</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> s)
<a name="l00063"></a>00063 {
<a name="l00064"></a>00064 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i<DERIVEDCLASS<a class="code" href="eigen__plugins_8h.html#a99fb83031ce9923c84392b4e92f956b5ad4a8f9f8c603d29a20ca6f9c056dd4da">::static_size</a>;i++)
<a name="l00065"></a>00065 static_cast<DERIVEDCLASS*>(<span class="keyword">this</span>)->m_coords[i] *= s;
<a name="l00066"></a>00066 }
<a name="l00067"></a>00067 <span class="comment"></span>
<a name="l00068"></a>00068 <span class="comment"> /** Return the pose or point as a 1x2 or 1x3 vector [x y] or [x y z] */</span>
<a name="l00069"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point.html#a1475f71cb06192af4a43d0f0ceb54a86">00069</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point.html#aa056055a3cbfe41c6ba3c79370c561ca">getAsVector</a>(<a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &v)<span class="keyword"> const</span>
<a name="l00070"></a>00070 <span class="keyword"> </span>{
<a name="l00071"></a>00071 v.<a class="code" href="structmrpt_1_1dynamicsize__vector.html#a8fd6a8b950613c9abbf6366bcc9d4e4c" title="Overloaded resize method that mimics std::vector::resize(SIZE,DEFAULT_VALUE) instead of resize(nrows...">resize</a>(<a class="code" href="eigen__plugins_8h.html#a99fb83031ce9923c84392b4e92f956b5ad4a8f9f8c603d29a20ca6f9c056dd4da">DERIVEDCLASS::static_size</a>);
<a name="l00072"></a>00072 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i<DERIVEDCLASS<a class="code" href="eigen__plugins_8h.html#a99fb83031ce9923c84392b4e92f956b5ad4a8f9f8c603d29a20ca6f9c056dd4da">::static_size</a>;i++)
<a name="l00073"></a>00073 v[i] = static_cast<const DERIVEDCLASS*>(<span class="keyword">this</span>)->m_coords[i];
<a name="l00074"></a>00074 }<span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> //! \overload</span>
<a name="l00076"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point.html#aa056055a3cbfe41c6ba3c79370c561ca">00076</a> <span class="comment"></span> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> <a class="code" href="classmrpt_1_1poses_1_1_c_point.html#aa056055a3cbfe41c6ba3c79370c561ca">getAsVector</a>()<span class="keyword"> const </span>{ <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> v; <a class="code" href="classmrpt_1_1poses_1_1_c_point.html#aa056055a3cbfe41c6ba3c79370c561ca">getAsVector</a>(v); <span class="keywordflow">return</span> v; }
<a name="l00077"></a>00077 <span class="comment"></span>
<a name="l00078"></a>00078 <span class="comment"> /** Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).</span>
<a name="l00079"></a>00079 <span class="comment"> * \sa getInverseHomogeneousMatrix</span>
<a name="l00080"></a>00080 <span class="comment"> */</span>
<a name="l00081"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point.html#a9feaa4392d225ef30569d927ea912cd8">00081</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point.html#a9feaa4392d225ef30569d927ea912cd8" title="Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (t...">getHomogeneousMatrix</a>(<a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble44</a> & out_HM )<span class="keyword"> const</span>
<a name="l00082"></a>00082 <span class="keyword"> </span>{
<a name="l00083"></a>00083 out_HM.unit(4,1.0);
<a name="l00084"></a>00084 out_HM.get_unsafe(0,3)= <span class="keyword">static_cast<</span><span class="keyword">const </span>DERIVEDCLASS*<span class="keyword">></span>(<span class="keyword">this</span>)-><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="l00085"></a>00085 out_HM.get_unsafe(1,3)= <span class="keyword">static_cast<</span><span class="keyword">const </span>DERIVEDCLASS*<span class="keyword">></span>(<span class="keyword">this</span>)-><a class="code" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a912d9a0a05f236fdb947b6627e7349ba">y</a>();
<a name="l00086"></a>00086 <span class="keywordflow">if</span> (DERIVEDCLASS::is3DPoseOrPoint())
<a name="l00087"></a>00087 out_HM.get_unsafe(2,3)= <span class="keyword">static_cast<</span><span class="keyword">const </span>DERIVEDCLASS*<span class="keyword">></span>(<span class="keyword">this</span>)->m_coords[2];
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** Returns a human-readable textual representation of the object (eg: "[0.02 1.04]" )</span>
<a name="l00091"></a>00091 <span class="comment"> * \sa fromString</span>
<a name="l00092"></a>00092 <span class="comment"> */</span>
<a name="l00093"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point.html#a62421d42705b4f7529f9140cf8f5e37f">00093</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point.html#a73c90c209be9250b480aa9db19c6e37e">asString</a>(<a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &s)<span class="keyword"> const</span>
<a name="l00094"></a>00094 <span class="keyword"> </span>{
<a name="l00095"></a>00095 s = (<a class="code" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a4d63d1364f37b48c83d36f4f2e5fb20a" title="Return true for poses or points with a Z component, false otherwise.">DERIVEDCLASS::is3DPoseOrPoint</a>()) ?
<a name="l00096"></a>00096 <a class="code" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">mrpt::format</a>(<span class="stringliteral">"[%f %f]"</span>, static_cast<const DERIVEDCLASS*>(<span class="keyword">this</span>)->x(), <span class="keyword">static_cast<</span><span class="keyword">const </span>DERIVEDCLASS*<span class="keyword">></span>(<span class="keyword">this</span>)-><a class="code" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a912d9a0a05f236fdb947b6627e7349ba">y</a>()) :
<a name="l00097"></a>00097 <a class="code" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">mrpt::format</a>(<span class="stringliteral">"[%f %f %f]"</span>,static_cast<const DERIVEDCLASS*>(<span class="keyword">this</span>)->x(), <span class="keyword">static_cast<</span><span class="keyword">const </span>DERIVEDCLASS*<span class="keyword">></span>(<span class="keyword">this</span>)-><a class="code" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a912d9a0a05f236fdb947b6627e7349ba">y</a>(), <span class="keyword">static_cast<</span><span class="keyword">const </span>DERIVEDCLASS*<span class="keyword">></span>(<span class="keyword">this</span>)->m_coords[2]);
<a name="l00098"></a>00098 }
<a name="l00099"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point.html#a73c90c209be9250b480aa9db19c6e37e">00099</a> <span class="keyword">inline</span> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1poses_1_1_c_point.html#a73c90c209be9250b480aa9db19c6e37e">asString</a>()<span class="keyword"> const </span>{ std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> s; <a class="code" href="classmrpt_1_1poses_1_1_c_point.html#a73c90c209be9250b480aa9db19c6e37e">asString</a>(s); <span class="keywordflow">return</span> s; }
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment"> /** Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04]" )</span>
<a name="l00102"></a>00102 <span class="comment"> * \sa asString</span>
<a name="l00103"></a>00103 <span class="comment"> * \exception std::exception On invalid format</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point.html#a6bd476309950f08614b53293b3ba909c">00105</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point.html#a6bd476309950f08614b53293b3ba909c" title="Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04]" )...">fromString</a>(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &s)
<a name="l00106"></a>00106 {
<a name="l00107"></a>00107 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixDouble</a> m;
<a name="l00108"></a>00108 <span class="keywordflow">if</span> (!m.fromMatlabStringFormat(s)) <a class="code" href="mrpt__macros_8h.html#aaa3f404ea85a6575a7139f8d101370ba">THROW_EXCEPTION</a>(<span class="stringliteral">"Malformed expression in ::fromString"</span>);
<a name="l00109"></a>00109 <a class="code" href="mrpt__macros_8h.html#a02c6e78d47a0bae723824559846cc673">ASSERT_EQUAL_</a>(<a class="code" href="namespacemrpt_1_1math.html#a632ae0aecf78103f87f18f9ac33f7170">mrpt::math::size</a>(m,1),1)
<a name="l00110"></a>00110 <a class="code" href="mrpt__macros_8h.html#a02c6e78d47a0bae723824559846cc673">ASSERT_EQUAL_</a>(<a class="code" href="namespacemrpt_1_1math.html#a632ae0aecf78103f87f18f9ac33f7170">mrpt::math::size</a>(m,2),<a class="code" href="eigen__plugins_8h.html#a99fb83031ce9923c84392b4e92f956b5ad4a8f9f8c603d29a20ca6f9c056dd4da">DERIVEDCLASS::static_size</a>)
<a name="l00111"></a>00111 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i<DERIVEDCLASS<a class="code" href="eigen__plugins_8h.html#a99fb83031ce9923c84392b4e92f956b5ad4a8f9f8c603d29a20ca6f9c056dd4da">::static_size</a>;i++)
<a name="l00112"></a>00112 static_cast<DERIVEDCLASS*>(<span class="keyword">this</span>)->m_coords[i] = m.get_unsafe(0,i);
<a name="l00113"></a>00113 }
<a name="l00114"></a>00114
<a name="l00115"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point.html#a74cf5b85852318531e782ada372e2882">00115</a> <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">double</span> &<a class="code" href="classmrpt_1_1poses_1_1_c_point.html#a74cf5b85852318531e782ada372e2882">operator[]</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">static_cast<</span><span class="keyword">const </span>DERIVEDCLASS*<span class="keyword">></span>(<span class="keyword">this</span>)->m_coords[i]; }
<a name="l00116"></a><a class="code" href="classmrpt_1_1poses_1_1_c_point.html#a02db452a96be2068ec89b09e4963f1e4">00116</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> &<a class="code" href="classmrpt_1_1poses_1_1_c_point.html#a02db452a96be2068ec89b09e4963f1e4">operator[]</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i) { <span class="keywordflow">return</span> <span class="keyword">static_cast<</span>DERIVEDCLASS*<span class="keyword">></span>(<span class="keyword">this</span>)->m_coords[i]; }
<a name="l00117"></a>00117 <span class="comment"></span>
<a name="l00118"></a>00118 <span class="comment"> /** @} */</span>
<a name="l00119"></a>00119
<a name="l00120"></a>00120 }; <span class="comment">// End of class def.</span>
<a name="l00121"></a>00121 <span class="comment"></span>
<a name="l00122"></a>00122 <span class="comment"> /** Dumps a point as a string [x,y] or [x,y,z] */</span>
<a name="l00123"></a>00123 <span class="keyword">template</span> <<span class="keyword">class</span> DERIVEDCLASS>
<a name="l00124"></a><a class="code" href="namespacemrpt_1_1poses.html#aa4247c4d793d20edb770e56f22b286f1">00124</a> std<a class="code" href="classstd_1_1ostream.html" title="STL class.">::ostream</a> &operator << (std::ostream& o, const CPoint<DERIVEDCLASS>& p)
<a name="l00125"></a>00125 {
<a name="l00126"></a>00126 o << <span class="stringliteral">"("</span> << p[0] << <span class="stringliteral">","</span> << p[1];
<a name="l00127"></a>00127 <span class="keywordflow">if</span> (p.is3DPoseOrPoint()) o << <span class="stringliteral">","</span> << p[2];
<a name="l00128"></a>00128 o <<<span class="stringliteral">")"</span>;
<a name="l00129"></a>00129 <span class="keywordflow">return</span> o;
<a name="l00130"></a>00130 }
<a name="l00131"></a>00131 <span class="comment"></span>
<a name="l00132"></a>00132 <span class="comment"> /** Used by STL algorithms */</span>
<a name="l00133"></a>00133 <span class="keyword">template</span> <<span class="keyword">class</span> DERIVEDCLASS>
<a name="l00134"></a><a class="code" href="namespacemrpt_1_1poses.html#aff846586035182f99707712cb073a5d2">00134</a> <span class="keywordtype">bool</span> operator < (const CPoint<DERIVEDCLASS> &a, <span class="keyword">const</span> <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<DERIVEDCLASS></a> &b)
<a name="l00135"></a>00135 {
<a name="l00136"></a>00136 <span class="keywordflow">if</span> (a.x()<b.x()) <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00137"></a>00137 <span class="keywordflow">else</span>
<a name="l00138"></a>00138 {
<a name="l00139"></a>00139 <span class="keywordflow">if</span> (!a.is3DPoseOrPoint())
<a name="l00140"></a>00140 <span class="keywordflow">return</span> a.<a class="code" href="classmrpt_1_1poses_1_1_c_pose_or_point.html#a912d9a0a05f236fdb947b6627e7349ba">y</a>()<b.y();
<a name="l00141"></a>00141 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (a.y()<b.y())
<a name="l00142"></a>00142 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00143"></a>00143 <span class="keywordflow">else</span> <span class="keywordflow">return</span> a[2]<b[2];
<a name="l00144"></a>00144 }
<a name="l00145"></a>00145 }
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="keyword">template</span> <<span class="keyword">class</span> DERIVEDCLASS>
<a name="l00148"></a><a class="code" href="namespacemrpt_1_1poses.html#acd8c946fdfab1501027f3a9347181ebf">00148</a> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1poses.html#acd8c946fdfab1501027f3a9347181ebf">operator==</a>(<span class="keyword">const</span> <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<DERIVEDCLASS></a> &p1,<span class="keyword">const</span> <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<DERIVEDCLASS></a> &p2)
<a name="l00149"></a>00149 {
<a name="l00150"></a>00150 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i<DERIVEDCLASS<a class="code" href="eigen__plugins_8h.html#a99fb83031ce9923c84392b4e92f956b5ad4a8f9f8c603d29a20ca6f9c056dd4da">::static_size</a>;i++)
<a name="l00151"></a>00151 <span class="keywordflow">if</span> (p1[i]!=p2[i]) <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00152"></a>00152 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00153"></a>00153 }
<a name="l00154"></a>00154
<a name="l00155"></a>00155 <span class="keyword">template</span> <<span class="keyword">class</span> DERIVEDCLASS>
<a name="l00156"></a><a class="code" href="namespacemrpt_1_1poses.html#a4a84f6907abc469f1bcadbf0ae3b485d">00156</a> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1poses.html#a4a84f6907abc469f1bcadbf0ae3b485d">operator!=</a>(<span class="keyword">const</span> <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<DERIVEDCLASS></a> &p1,<span class="keyword">const</span> <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<DERIVEDCLASS></a> &p2)
<a name="l00157"></a>00157 {
<a name="l00158"></a>00158 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i<DERIVEDCLASS<a class="code" href="eigen__plugins_8h.html#a99fb83031ce9923c84392b4e92f956b5ad4a8f9f8c603d29a20ca6f9c056dd4da">::static_size</a>;i++)
<a name="l00159"></a>00159 <span class="keywordflow">if</span> (p1[i]!=p2[i]) <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00160"></a>00160 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00161"></a>00161 }
<a name="l00162"></a>00162
<a name="l00163"></a>00163
<a name="l00164"></a>00164
<a name="l00165"></a>00165 } <span class="comment">// End of namespace</span>
<a name="l00166"></a>00166 } <span class="comment">// End of namespace</span>
<a name="l00167"></a>00167
<a name="l00168"></a>00168 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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