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CMatrix.h
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27  +---------------------------------------------------------------------------+ */
28 #ifndef CMATRIX_H
29 #define CMATRIX_H
30 
31 #include <mrpt/utils/CSerializable.h>
32 #include <mrpt/math/CMatrixTemplateNumeric.h>
33 #include <mrpt/math/CMatrixFixedNumeric.h>
34 #include <mrpt/utils/CStream.h>
35 
36 namespace mrpt
37 {
38  namespace math
39  {
40  // This must be added to any CSerializable derived class:
41  // Note: instead of the standard "DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE", classes inheriting
42  // from templates need special nasty handling for MSVC DLL exports...
43  DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE2(CMatrix, mrpt::utils::CSerializable, CMatrix)
44  BASE_IMPEXP ::mrpt::utils::CStream& operator>>(mrpt::utils::CStream& in, CMatrixPtr &pObj);
45 
46  /** This class is a "CSerializable" wrapper for "CMatrixFloat".
47  * \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
48  * \ingroup mrpt_base_grp
49  */
50  class BASE_IMPEXP_TEMPL CMatrix : public mrpt::utils::CSerializable, public CMatrixFloat
51  {
52  // This must be added to any CSerializable derived class:
53  //DEFINE_SERIALIZABLE( CMatrix )
54  //DEFINE_MRPT_OBJECT(CMatrix)
55  protected:
56  static const mrpt::utils::TRuntimeClassId* _GetBaseClass();
57  static mrpt::utils::CLASSINIT _init_CMatrix;
58  public:
59  /*! A typedef for the associated smart pointer */
60  typedef CMatrixPtr SmartPtr;
61  static BASE_IMPEXP mrpt::utils::TRuntimeClassId classCMatrix;
62  static BASE_IMPEXP const mrpt::utils::TRuntimeClassId *classinfo;
63  virtual BASE_IMPEXP const mrpt::utils::TRuntimeClassId* GetRuntimeClass() const;
64  static BASE_IMPEXP mrpt::utils::CObject* CreateObject();
65  static BASE_IMPEXP CMatrixPtr Create();
66  virtual BASE_IMPEXP mrpt::utils::CObject *duplicate() const;
67  protected:
68  /*! @name CSerializable virtual methods */
69  /*! @{ */
70  BASE_IMPEXP void writeToStream(mrpt::utils::CStream &out, int *getVersion) const;
71  BASE_IMPEXP void readFromStream(mrpt::utils::CStream &in, int version);
72  /*! @} */
73 
74  public:
75  /** Constructor */
76  CMatrix() : CMatrixFloat(1,1)
77  { }
78 
79  /** Constructor */
80  CMatrix(size_t row, size_t col) : CMatrixFloat(row,col)
81  { }
82 
83  /** Copy constructor
84  */
85  CMatrix( const CMatrixFloat &m ) : CMatrixFloat(m)
86  { }
87 
88  /** Copy constructor
89  */
90  CMatrix( const CMatrixTemplateNumeric<double> &m ) : CMatrixFloat(0,0)
91  {
92  *this = m.eval().cast<float>();
93  }
94 
95  /** Constructor from a TPose2D, which generates a 3x1 matrix \f$ [x y \phi]^T \f$
96  */
97  explicit CMatrix( const TPose2D &p) : CMatrixFloat(p) {}
98 
99  /** Constructor from a mrpt::poses::CPose6D, which generates a 6x1 matrix \f$ [x y z yaw pitch roll]^T \f$
100  */
101  explicit CMatrix( const TPose3D &p) : CMatrixFloat(p) {}
102 
103  /** Constructor from a TPoint2D, which generates a 2x1 matrix \f$ [x y]^T \f$
104  */
105  explicit CMatrix( const TPoint2D &p) : CMatrixFloat(p) {}
106 
107  /** Constructor from a TPoint3D, which generates a 3x1 matrix \f$ [x y z]^T \f$
108  */
109  explicit CMatrix( const TPoint3D &p) : CMatrixFloat(p) {}
110 
111  /** Assignment operator for float matrixes
112  */
113  template <class OTHERMAT>
114  inline CMatrix & operator = (const OTHERMAT& m)
115  {
116  CMatrixFloat::operator =(m);
117  return *this;
118  }
119 
120  /*! Assignment operator from any other Eigen class */
121  template<typename OtherDerived>
122  inline CMatrix & operator= (const Eigen::MatrixBase <OtherDerived>& other) {
123  CMatrixTemplateNumeric<float>::operator=(other);
124  return *this;
125  }
126  /*! Constructor from any other Eigen class */
127  template<typename OtherDerived>
128  inline CMatrix(const Eigen::MatrixBase <OtherDerived>& other) : CMatrixTemplateNumeric<float>(other) { }
129 
130  }; // end of class definition
131 
132  } // End of namespace
133 } // End of namespace
134 
135 #endif


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