00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CPOSE2D_H 00029 #define CPOSE2D_H 00030 00031 #include <mrpt/poses/CPose.h> 00032 00033 namespace mrpt 00034 { 00035 namespace poses 00036 { 00037 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPose2D, CPose ) 00038 00039 00154 class MRPTDLLIMPEXP CPose2D : public CPose 00155 { 00156 // This must be added to any CSerializable derived class: 00157 DEFINE_SERIALIZABLE( CPose2D ) 00158 00159 protected: 00160 mutable math::CMatrixDouble aux_HM; 00161 00162 public: 00165 CPose2D(const double& x=0,const double&y=0,const double& phi=0); 00166 00169 CPose2D(const CPoint2D &); 00170 00173 explicit CPose2D(const CPose3D &); 00174 00177 double phi; 00178 00184 const math::CMatrixDouble& getHomogeneousMatrix() const; 00185 00191 void getHomogeneousMatrix(const math::CMatrixDouble *& ptrHM ) const; 00192 00195 CPose2D operator + (const CPose2D& D) const ; 00196 00199 CPose3D operator + (const CPose3D& D) const ; 00200 00203 CPoint2D operator + (const CPoint2D& u) const ; 00204 00207 CPoint3D operator + (const CPoint3D& u) const ; 00208 00212 CPose2D operator - (const CPose2D& b) const ; 00213 00217 void AddComponents(CPose2D &p); 00218 00221 void operator *=(const double &s); 00222 00225 void normalizePhi(); 00226 00227 }; // End of class def. 00228 00229 00230 std::ostream MRPTDLLIMPEXP & operator << (std::ostream& o, const CPose2D& p); 00231 00232 } // End of namespace 00233 } // End of namespace 00234 00235 #endif
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