CPoint2D.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 CPOINT2D_H
#define CPOINT2D_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/poses/CPoint.h>

namespace mrpt
{
namespace poses
{
        class CPose2D;

        DEFINE_SERIALIZABLE_PRE( CPoint2D )

        /** A class used to store a 2D point.
         *
         *  For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer
         *    to the <a href="http://www.mrpt.org/2D_3D_Geometry" >2D/3D Geometry tutorial</a> in the wiki.
         *
         *  <div align=center>
         *   <img src="CPoint2D.gif">
         *  </div>
         *
         * \sa CPoseOrPoint,CPose, CPoint
         * \ingroup poses_grp
         */
        class BASE_IMPEXP CPoint2D : public CPoint<CPoint2D>, public mrpt::utils::CSerializable
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CPoint2D )

        public:
                mrpt::math::CArrayDouble<2>   m_coords; //!< [x,y]

        public:
                 /** Constructor for initializing point coordinates. */
                 inline CPoint2D(double x=0,double y=0) { m_coords[0]=x; m_coords[1]=y; }

                 /** Constructor from x/y coordinates given from other pose. */
                template <class OTHERCLASS>
                inline explicit CPoint2D(const CPoseOrPoint<OTHERCLASS> &b)
                {
                        m_coords[0]=b.x();
                        m_coords[1]=b.y();
                }

                /** Implicit constructor from lightweight type. */
                inline CPoint2D(const mrpt::math::TPoint2D &o) { m_coords[0]=o.x; m_coords[1]=o.y; }

                /** Explicit constructor from lightweight type (loses the z coord). */
                inline explicit CPoint2D(const mrpt::math::TPoint3D &o) { m_coords[0]=o.x; m_coords[1]=o.y; m_coords[2]=0; }

                /** The operator D="this"-b is the pose inverse compounding operator,
                *   the resulting points "D" fulfils: "this" = b + D, so that: b == a + (b-a)
                */
                CPoint2D  operator - (const CPose2D& b) const;

                enum { is_3D_val = 0 };
                static inline bool is_3D() { return is_3D_val!=0; }
                enum { is_PDF_val = 0 };
                static inline bool is_PDF() { return is_PDF_val!=0; }

                 /** @name STL-like methods and typedefs
                   @{   */
                typedef double         value_type;              //!< The type of the elements
                typedef double&        reference;
                typedef const double&  const_reference;
                typedef std::size_t    size_type;
                typedef std::ptrdiff_t difference_type;

                // size is constant
                enum { static_size = 2 };
                static inline size_type size() { return static_size; }
                static inline bool empty() { return false; }
                static inline size_type max_size() { return static_size; }
                static inline void resize(const size_t n) { if (n!=static_size) throw std::logic_error(format("Try to change the size of CPoint2D to %u.",static_cast<unsigned>(n))); }
                /** @} */

        }; // End of class def.


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

#endif