00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 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 CPOINT2D_H 00029 #define CPOINT2D_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/poses/CPoint.h> 00033 00034 namespace mrpt 00035 { 00036 namespace poses 00037 { 00038 class CPose2D; 00039 00040 DEFINE_SERIALIZABLE_PRE( CPoint2D ) 00041 00042 /** A class used to store a 2D point. 00043 * 00044 * For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer 00045 * to the <a href="http://www.mrpt.org/2D_3D_Geometry">2D/3D Geometry tutorial</a> in the wiki. 00046 * 00047 * <div align=center> 00048 * <img src="CPoint2D.gif"> 00049 * </div> 00050 * 00051 * \sa CPoseOrPoint,CPose, CPoint 00052 */ 00053 class BASE_IMPEXP CPoint2D : public CPoint<CPoint2D>, public mrpt::utils::CSerializable 00054 { 00055 // This must be added to any CSerializable derived class: 00056 DEFINE_SERIALIZABLE( CPoint2D ) 00057 00058 public: 00059 mrpt::math::CArrayDouble<2> m_coords; //!< [x,y] 00060 00061 public: 00062 /** Constructor for initializing point coordinates. */ 00063 inline CPoint2D(double x=0,double y=0) { m_coords[0]=x; m_coords[1]=y; } 00064 00065 /** Constructor from x/y coordinates given from other pose. */ 00066 template <class OTHERCLASS> 00067 inline explicit CPoint2D(const CPoseOrPoint<OTHERCLASS> &b) 00068 { 00069 m_coords[0]=b.x(); 00070 m_coords[1]=b.y(); 00071 } 00072 00073 /** Implicit constructor from lightweight type. */ 00074 inline CPoint2D(const mrpt::math::TPoint2D &o) { m_coords[0]=o.x; m_coords[1]=o.y; } 00075 00076 /** Explicit constructor from lightweight type (loses the z coord). */ 00077 inline explicit CPoint2D(const mrpt::math::TPoint3D &o) { m_coords[0]=o.x; m_coords[1]=o.y; m_coords[2]=0; } 00078 00079 /** The operator D="this"-b is the pose inverse compounding operator, 00080 * the resulting points "D" fulfils: "this" = b + D, so that: b == a + (b-a) 00081 */ 00082 CPoint2D operator - (const CPose2D& b) const; 00083 00084 enum { is_3D_val = 0 }; 00085 static inline bool is_3D() { return is_3D_val!=0; } 00086 enum { is_PDF_val = 0 }; 00087 static inline bool is_PDF() { return is_PDF_val!=0; } 00088 00089 /** @name STL-like methods and typedefs 00090 @{ */ 00091 typedef double value_type; //!< The type of the elements 00092 typedef double& reference; 00093 typedef const double& const_reference; 00094 typedef std::size_t size_type; 00095 typedef std::ptrdiff_t difference_type; 00096 00097 // size is constant 00098 enum { static_size = 2 }; 00099 static inline size_type size() { return static_size; } 00100 static inline bool empty() { return false; } 00101 static inline size_type max_size() { return static_size; } 00102 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))); } 00103 /** @} */ 00104 00105 }; // End of class def. 00106 00107 00108 } // End of namespace 00109 } // End of namespace 00110 00111 #endif
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