CPose.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CPOSE_H
#define CPOSE_H

#include <mrpt/poses/CPoseOrPoint.h>

namespace mrpt
{
        namespace poses
        {
                /** A base class for representing a pose in 2D or 3D.
                 *   For more information refer to the <a href="http://www.mrpt.org/2D_3D_Geometry"> 2D/3D Geometry tutorial</a> online.
                 * \note This class is based on the CRTP design pattern
                 * \sa CPoseOrPoint, CPoint
                 * \ingroup poses_grp
                 */
                template <class DERIVEDCLASS>
                class CPose : public CPoseOrPoint<DERIVEDCLASS>
                {
                public:
                         /** The operator \f$ a \ominus b \f$ is the pose inverse compounding operator. */
                         CPose3D  operator - (const CPose3D& b) const; // Implemented in CPose3D.h !!

                }; // End of class def.

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

#endif