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CMatrixD.h
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27  +---------------------------------------------------------------------------+ */
28 #ifndef CMATRIXD_H
29 #define CMATRIXD_H
30 
31 #include <mrpt/utils/CSerializable.h>
32 #include <mrpt/math/CMatrixTemplateNumeric.h>
33 #include <mrpt/utils/CStream.h>
34 #include <mrpt/utils/utils_defs.h>
35 
36 
37 namespace mrpt
38 {
39  namespace math
40  {
41  // This must be added to any CSerializable derived class:
42  // Note: instead of the standard "DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE", classes inheriting
43  // from templates need special nasty handling for MSVC DLL exports...
44  DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE2(CMatrixD, mrpt::utils::CSerializable, CMatrixD)
45  BASE_IMPEXP ::mrpt::utils::CStream& operator>>(mrpt::utils::CStream& in, CMatrixDPtr &pObj);
46 
47 
48  /** This class is a "CSerializable" wrapper for "CMatrixTemplateNumeric<double>".
49  * \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
50  * \ingroup mrpt_base_grp
51  */
52  class BASE_IMPEXP_TEMPL CMatrixD : public mrpt::utils::CSerializable, public CMatrixTemplateNumeric<double>
53  {
54  // This must be added to any CSerializable derived class:
55  //DEFINE_SERIALIZABLE( CMatrixD )
56  //DEFINE_MRPT_OBJECT(CMatrixD)
57  protected:
58  static const mrpt::utils::TRuntimeClassId* _GetBaseClass();
59  static mrpt::utils::CLASSINIT _init_CMatrixD;
60  public:
61  /*! A typedef for the associated smart pointer */
62  typedef CMatrixDPtr SmartPtr;
63  static BASE_IMPEXP mrpt::utils::TRuntimeClassId classCMatrixD;
64  static BASE_IMPEXP const mrpt::utils::TRuntimeClassId *classinfo;
65  virtual BASE_IMPEXP const mrpt::utils::TRuntimeClassId* GetRuntimeClass() const;
66  static BASE_IMPEXP mrpt::utils::CObject* CreateObject();
67  static BASE_IMPEXP CMatrixDPtr Create();
68  virtual BASE_IMPEXP mrpt::utils::CObject *duplicate() const;
69  protected:
70  /*! @name CSerializable virtual methods */
71  /*! @{ */
72  BASE_IMPEXP void writeToStream(mrpt::utils::CStream &out, int *getVersion) const;
73  BASE_IMPEXP void readFromStream(mrpt::utils::CStream &in, int version);
74  /*! @} */
75 
76  public:
77  /** Constructor */
78  CMatrixD() : CMatrixTemplateNumeric<double>(1,1)
79  { }
80 
81  /** Constructor */
82  CMatrixD(size_t row, size_t col) : CMatrixTemplateNumeric<double>(row,col)
83  { }
84 
85  /** Copy constructor */
86  CMatrixD( const CMatrixTemplateNumeric<double> &m ) : CMatrixTemplateNumeric<double>(m)
87  { }
88 
89  /** Copy constructor
90  */
91  CMatrixD( const CMatrixFloat &m ) : CMatrixTemplateNumeric<double>(0,0)
92  {
93  *this = m.eval().cast<double>();
94  }
95 
96  /*! Assignment operator from any other Eigen class */
97  template<typename OtherDerived>
98  inline CMatrixD & operator= (const Eigen::MatrixBase <OtherDerived>& other) {
99  CMatrixTemplateNumeric<double>::operator=(other);
100  return *this;
101  }
102  /*! Constructor from any other Eigen class */
103  template<typename OtherDerived>
104  inline CMatrixD(const Eigen::MatrixBase <OtherDerived>& other) : CMatrixTemplateNumeric<double>(other) { }
105 
106  /** Constructor from a TPose2D, which generates a 3x1 matrix \f$ [x y \phi]^T \f$
107  */
108  explicit CMatrixD( const TPose2D &p) : CMatrixDouble(p) {}
109 
110  /** Constructor from a TPose3D, which generates a 6x1 matrix \f$ [x y z yaw pitch roll]^T \f$
111  */
112  explicit CMatrixD( const TPose3D &p) : CMatrixDouble(p) {}
113 
114  /** Constructor from a TPoint2D, which generates a 2x1 matrix \f$ [x y]^T \f$
115  */
116  explicit CMatrixD( const TPoint2D &p) : CMatrixDouble(p) {}
117 
118  /** Constructor from a mrpt::poses::CPoint3D, which generates a 3x1 matrix \f$ [x y z]^T \f$
119  */
120  explicit CMatrixD( const TPoint3D &p) : CMatrixDouble(p) {}
121 
122 
123  /** Assignment operator for float matrixes
124  */
125  template <class OTHERMAT>
126  inline CMatrixD & operator = (const OTHERMAT& m)
127  {
128  CMatrixDouble::operator =(m);
129  return *this;
130  }
131 
132  }; // end of class definition
133 
134  } // End of namespace
135 } // End of namespace
136 
137 #endif


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