CMatrix.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.                                   |
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   |   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 CMATRIX_H
#define CMATRIX_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/math/CMatrixTemplateNumeric.h>
#include <mrpt/math/CMatrixFixedNumeric.h>
#include <mrpt/utils/CStream.h>

namespace mrpt
{
        namespace math
        {
                // This must be added to any CSerializable derived class:
                // Note: instead of the standard "DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE", classes inheriting
                // from templates need special nasty handling for MSVC DLL exports...
                DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE2(CMatrix, mrpt::utils::CSerializable, CMatrix)
                BASE_IMPEXP ::mrpt::utils::CStream& operator>>(mrpt::utils::CStream& in, CMatrixPtr &pObj);

                /**  This class is a "CSerializable" wrapper for "CMatrixFloat".
                 * \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
                 * \ingroup mrpt_base_grp
                 */
                class BASE_IMPEXP_TEMPL CMatrix : public mrpt::utils::CSerializable, public CMatrixFloat
                {
                        // This must be added to any CSerializable derived class:
                        //DEFINE_SERIALIZABLE( CMatrix )
                        //DEFINE_MRPT_OBJECT(CMatrix)
                protected:
                        static  const mrpt::utils::TRuntimeClassId* _GetBaseClass();
                        static mrpt::utils::CLASSINIT _init_CMatrix;
                public:
                        /*! A typedef for the associated smart pointer */
                        typedef CMatrixPtr SmartPtr;
                        static BASE_IMPEXP  mrpt::utils::TRuntimeClassId  classCMatrix;
                        static BASE_IMPEXP  const mrpt::utils::TRuntimeClassId *classinfo;
                        virtual BASE_IMPEXP  const mrpt::utils::TRuntimeClassId* GetRuntimeClass() const;
                        static  BASE_IMPEXP mrpt::utils::CObject* CreateObject();
                        static BASE_IMPEXP CMatrixPtr Create();
                        virtual BASE_IMPEXP mrpt::utils::CObject *duplicate() const;
                protected:
                        /*! @name CSerializable virtual methods */
                        /*! @{ */
                        BASE_IMPEXP void writeToStream(mrpt::utils::CStream &out, int *getVersion) const;
                        BASE_IMPEXP void readFromStream(mrpt::utils::CStream &in, int version);
                        /*! @} */

                public:
                        /** Constructor  */
                        CMatrix() : CMatrixFloat(1,1)
                        { }

                        /** Constructor  */
                        CMatrix(size_t row, size_t col) : CMatrixFloat(row,col)
                        { }

                        /** Copy constructor
                          */
                        CMatrix( const CMatrixFloat &m ) : CMatrixFloat(m)
                        { }

                        /** Copy constructor
                          */
                        CMatrix( const CMatrixTemplateNumeric<double> &m ) : CMatrixFloat(0,0)
                        {
                                *this = m.eval().cast<float>();
                        }

                        /** Constructor from a TPose2D, which generates a 3x1 matrix \f$ [x y \phi]^T \f$
                           */
                        explicit CMatrix( const TPose2D &p) : CMatrixFloat(p) {}

                        /** Constructor from a mrpt::poses::CPose6D, which generates a 6x1 matrix \f$ [x y z yaw pitch roll]^T \f$
                           */
                        explicit CMatrix( const TPose3D &p) : CMatrixFloat(p) {}

                        /** Constructor from a TPoint2D, which generates a 2x1 matrix \f$ [x y]^T \f$
                           */
                        explicit CMatrix( const TPoint2D &p) : CMatrixFloat(p) {}

                        /** Constructor from a TPoint3D, which generates a 3x1 matrix \f$ [x y z]^T \f$
                           */
                        explicit CMatrix( const TPoint3D &p) : CMatrixFloat(p) {}

                        /** Assignment operator for float matrixes
                        */
                        template <class OTHERMAT>
                        inline CMatrix & operator = (const OTHERMAT& m)
                        {
                                CMatrixFloat::operator =(m);
                                return *this;
                        }

                        /*! Assignment operator from any other Eigen class */
                        template<typename OtherDerived>
                        inline CMatrix & operator= (const Eigen::MatrixBase <OtherDerived>& other) {
                                CMatrixTemplateNumeric<float>::operator=(other);
                                return *this;
                        }
                        /*! Constructor from any other Eigen class */
                        template<typename OtherDerived>
                        inline CMatrix(const Eigen::MatrixBase <OtherDerived>& other) : CMatrixTemplateNumeric<float>(other) { }

                }; // end of class definition

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

#endif