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<div class="title">CMatrix.h</div> </div>
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<a href="_c_matrix_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 CMATRIX_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CMATRIX_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_matrix_template_numeric_8h.html">mrpt/math/CMatrixTemplateNumeric.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_matrix_fixed_numeric_8h.html">mrpt/math/CMatrixFixedNumeric.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_stream_8h.html">mrpt/utils/CStream.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>math
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00041"></a>00041 <span class="comment">// Note: instead of the standard "DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE", classes inheriting</span>
<a name="l00042"></a>00042 <span class="comment">// from templates need special nasty handling for MSVC DLL exports...</span>
<a name="l00043"></a><a class="code" href="structmrpt_1_1math_1_1_c_matrix_ptr.html#ac63769d31d7c3c2fb175b422cfa3d123">00043</a> <a class="code" href="_c_object_8h.html#afd9e3f83bf8b2ef843831523123740f1" title="This declaration must be inserted in all CObject classes definition, before the class declaration...">DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE2</a>(<a class="code" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</a>, <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...">mrpt::utils::CSerializable</a>, <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</a>)
<a name="l00044"></a>00044 <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> ::mrpt::utils::<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>& operator>>(mrpt::utils::<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>& in, <a class="code" href="structmrpt_1_1math_1_1_c_matrix_ptr.html">CMatrixPtr</a> &pObj);
<a name="l00045"></a>00045 <span class="comment"></span>
<a name="l00046"></a>00046 <span class="comment"> /** This class is a "CSerializable" wrapper for "CMatrixFloat".</span>
<a name="l00047"></a>00047 <span class="comment"> * \note For a complete introduction to Matrices and vectors in MRPT, see: http://www.mrpt.org/Matrices_vectors_arrays_and_Linear_Algebra_MRPT_and_Eigen_classes</span>
<a name="l00048"></a>00048 <span class="comment"> * \ingroup mrpt_base_grp</span>
<a name="l00049"></a>00049 <span class="comment"> */</span>
<a name="l00050"></a>00050 class <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#aeb1137d3aabf690af43cfbc79c0971f1">BASE_IMPEXP_TEMPL</a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</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>, public <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixFloat</a>
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00053"></a>00053 <span class="comment">//DEFINE_SERIALIZABLE( CMatrix )</span>
<a name="l00054"></a>00054 <span class="comment">//DEFINE_MRPT_OBJECT(CMatrix)</span>
<a name="l00055"></a>00055 <span class="keyword">protected</span>:
<a name="l00056"></a>00056 <span class="keyword">static</span> <span class="keyword">const</span> mrpt<a class="code" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html" title="A structure that holds runtime class type information.">::utils::TRuntimeClassId</a>* _GetBaseClass();
<a name="l00057"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#a04258074eb4c3df3c6cf330336e3bf06">00057</a> <span class="keyword">static</span> mrpt<a class="code" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html" title="Auxiliary structure used for CObject-based RTTI.">::utils::CLASSINIT</a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#a04258074eb4c3df3c6cf330336e3bf06">_init_CMatrix</a>;
<a name="l00058"></a>00058 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00059"></a>00059 <span class="comment"> /*! A typedef for the associated smart pointer */</span>
<a name="l00060"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#a21bc7f87897c45bd59356778d08bf866">00060</a> <span class="keyword">typedef</span> <a class="code" href="structmrpt_1_1math_1_1_c_matrix_ptr.html">CMatrixPtr</a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#a21bc7f87897c45bd59356778d08bf866">SmartPtr</a>;
<a name="l00061"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#a9aad3daf0fefb9d49fca1af17de1c65a">00061</a> <span class="keyword">static</span> <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> mrpt<a class="code" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html" title="A structure that holds runtime class type information.">::utils::TRuntimeClassId</a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#a9aad3daf0fefb9d49fca1af17de1c65a">classCMatrix</a>;
<a name="l00062"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#ad71b33dfa8f1804c5de4c9ec81389548">00062</a> <span class="keyword">static</span> <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <span class="keyword">const</span> mrpt<a class="code" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html" title="A structure that holds runtime class type information.">::utils::TRuntimeClassId</a> *<a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#ad71b33dfa8f1804c5de4c9ec81389548">classinfo</a>;
<a name="l00063"></a>00063 <span class="keyword">virtual</span> <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <span class="keyword">const</span> mrpt<a class="code" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html" title="A structure that holds runtime class type information.">::utils::TRuntimeClassId</a>* GetRuntimeClass() <span class="keyword">const</span>;
<a name="l00064"></a>00064 <span class="keyword">static</span> <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> mrpt<a class="code" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system.">::utils::CObject</a>* CreateObject();
<a name="l00065"></a>00065 <span class="keyword">static</span> <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1math_1_1_c_matrix_ptr.html">CMatrixPtr</a> Create();
<a name="l00066"></a>00066 <span class="keyword">virtual</span> <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> mrpt<a class="code" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system.">::utils::CObject</a> *duplicate() <span class="keyword">const</span>;
<a name="l00067"></a>00067 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00068"></a>00068 <span class="comment"> /*! @name CSerializable virtual methods */</span><span class="comment"></span>
<a name="l00069"></a>00069 <span class="comment"> /*! @{ */</span>
<a name="l00070"></a>00070 <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <span class="keywordtype">void</span> writeToStream(<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...">mrpt::utils::CStream</a> &out, <span class="keywordtype">int</span> *getVersion) <span class="keyword">const</span>;
<a name="l00071"></a>00071 <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <span class="keywordtype">void</span> readFromStream(<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...">mrpt::utils::CStream</a> &in, <span class="keywordtype">int</span> version);<span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment"> /*! @} */</span>
<a name="l00073"></a>00073
<a name="l00074"></a>00074 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Constructor */</span>
<a name="l00076"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#ad6082437e2e8e21be947b8a3d9c3ac66">00076</a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</a>() : CMatrixFloat(1,1)
<a name="l00077"></a>00077 { }
<a name="l00078"></a>00078 <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Constructor */</span>
<a name="l00080"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#a1c5386bf2d25413a17ec4f05c3889faf">00080</a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</a>(<span class="keywordtype">size_t</span> row, <span class="keywordtype">size_t</span> col) : CMatrixFloat(row,col)
<a name="l00081"></a>00081 { }
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Copy constructor</span>
<a name="l00084"></a>00084 <span class="comment"> */</span>
<a name="l00085"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#a80d3a5297c4b082e4d6f016e36a34f4b">00085</a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</a>( <span class="keyword">const</span> CMatrixFloat &m ) : CMatrixFloat(m)
<a name="l00086"></a>00086 { }
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** Copy constructor</span>
<a name="l00089"></a>00089 <span class="comment"> */</span>
<a name="l00090"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#a28361d25687769704c514c4fec06b3c3">00090</a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</a>( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric<double></a> &m ) : CMatrixFloat(0,0)
<a name="l00091"></a>00091 {
<a name="l00092"></a>00092 *<span class="keyword">this</span> = m.eval().cast<<span class="keywordtype">float</span>>();
<a name="l00093"></a>00093 }
<a name="l00094"></a>00094 <span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment"> /** Constructor from a TPose2D, which generates a 3x1 matrix \f$ [x y \phi]^T \f$</span>
<a name="l00096"></a>00096 <span class="comment"> */</span>
<a name="l00097"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#a1e296fa048d8a5ca8a152b1001cc2f9f">00097</a> <span class="keyword">explicit</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#a1e296fa048d8a5ca8a152b1001cc2f9f" title="Constructor from a TPose2D, which generates a 3x1 matrix .">CMatrix</a>( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">TPose2D</a> &p) : CMatrixFloat(p) {}
<a name="l00098"></a>00098 <span class="comment"></span>
<a name="l00099"></a>00099 <span class="comment"> /** Constructor from a mrpt::poses::CPose6D, which generates a 6x1 matrix \f$ [x y z yaw pitch roll]^T \f$</span>
<a name="l00100"></a>00100 <span class="comment"> */</span>
<a name="l00101"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#af99bae8b09c94e72ec1fa57c5f9149d2">00101</a> <span class="keyword">explicit</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#af99bae8b09c94e72ec1fa57c5f9149d2" title="Constructor from a mrpt::poses::CPose6D, which generates a 6x1 matrix .">CMatrix</a>( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a> &p) : CMatrixFloat(p) {}
<a name="l00102"></a>00102 <span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment"> /** Constructor from a TPoint2D, which generates a 2x1 matrix \f$ [x y]^T \f$</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#ab17581b84fb328268b65a3e8f82f6911">00105</a> <span class="keyword">explicit</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#ab17581b84fb328268b65a3e8f82f6911" title="Constructor from a TPoint2D, which generates a 2x1 matrix .">CMatrix</a>( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">TPoint2D</a> &p) : CMatrixFloat(p) {}
<a name="l00106"></a>00106 <span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** Constructor from a TPoint3D, which generates a 3x1 matrix \f$ [x y z]^T \f$</span>
<a name="l00108"></a>00108 <span class="comment"> */</span>
<a name="l00109"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#ad7f6428b680dad5cc4c4724b9471b4a8">00109</a> <span class="keyword">explicit</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#ad7f6428b680dad5cc4c4724b9471b4a8" title="Constructor from a TPoint3D, which generates a 3x1 matrix .">CMatrix</a>( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p) : CMatrixFloat(p) {}
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment"> /** Assignment operator for float matrixes</span>
<a name="l00112"></a>00112 <span class="comment"> */</span>
<a name="l00113"></a>00113 <span class="keyword">template</span> <<span class="keyword">class</span> OTHERMAT>
<a name="l00114"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#ada37f35f5b9e906039c1d135d9ddd6a7">00114</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</a> & operator = (<span class="keyword">const</span> OTHERMAT& m)
<a name="l00115"></a>00115 {
<a name="l00116"></a>00116 <a class="code" href="class_eigen_1_1_matrix.html#af9c71dd0f9635e9982e24b554143a1e8" title="Assigns matrices to each other.">CMatrixFloat::operator =</a>(m);
<a name="l00117"></a>00117 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00118"></a>00118 }
<a name="l00119"></a>00119 <span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /*! Assignment operator from any other Eigen class */</span>
<a name="l00121"></a>00121 <span class="keyword">template</span><<span class="keyword">typename</span> OtherDerived>
<a name="l00122"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#a980f8d4c881d58173fb54577e25d4821">00122</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</a> & operator= (<span class="keyword">const</span> <a class="code" href="class_eigen_1_1_matrix_base.html" title="Base class for all dense matrices, vectors, and expressions.">Eigen::MatrixBase <OtherDerived></a>& other) {
<a name="l00123"></a>00123 <a class="code" href="class_eigen_1_1_matrix.html#af9c71dd0f9635e9982e24b554143a1e8" title="Assigns matrices to each other.">CMatrixTemplateNumeric<float>::operator=</a>(other);
<a name="l00124"></a>00124 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00125"></a>00125 }<span class="comment"></span>
<a name="l00126"></a>00126 <span class="comment"> /*! Constructor from any other Eigen class */</span>
<a name="l00127"></a>00127 <span class="keyword">template</span><<span class="keyword">typename</span> OtherDerived>
<a name="l00128"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#aec4d57ee4cf3a8f199373613f71c4032">00128</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix.html#aec4d57ee4cf3a8f199373613f71c4032">CMatrix</a>(<span class="keyword">const</span> <a class="code" href="class_eigen_1_1_matrix_base.html" title="Base class for all dense matrices, vectors, and expressions.">Eigen::MatrixBase <OtherDerived></a>& other) : <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixTemplateNumeric</a><float>(other) { }
<a name="l00129"></a>00129
<a name="l00130"></a>00130 }; <span class="comment">// end of class definition</span>
<a name="l00131"></a>00131
<a name="l00132"></a>00132 } <span class="comment">// End of namespace</span>
<a name="l00133"></a>00133 } <span class="comment">// End of namespace</span>
<a name="l00134"></a>00134
<a name="l00135"></a>00135 <span class="preprocessor">#endif</span>
</pre></div></div>
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