CMatrix.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                   http://mrpt.sourceforge.net/                            |
   |                                                                           |
   |   Copyright (C) 2005-2010  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 CMATRIX_H
#define CMATRIX_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/math/CMatrixTemplateNumeric.h>
#include <mrpt/math/CMatrixFixedNumeric.h>
#include <mrpt/math/CVectorTemplate.h>


namespace mrpt
{
        namespace poses
        {
                class MRPTDLLIMPEXP CPose2D;
                class MRPTDLLIMPEXP CPose3D;
                class MRPTDLLIMPEXP CPoint2D;
                class MRPTDLLIMPEXP CPoint3D;
        }

        namespace math
        {

                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE_PRE( CMatrix )

                /**  This class is a "CSerializable" wrapper for "CMatrixFloat".
                 */
                class MRPTDLLIMPEXP CMatrix : public mrpt::utils::CSerializable, public CMatrixFloat
                {
                        // This must be added to any CSerializable derived class:
                        DEFINE_SERIALIZABLE( CMatrix )
                public:
                        /** Constructor  */
                        CMatrix() : CMatrixFloat(1,1)
                        { }

                        /** Constructor  */
                        CMatrix(size_t row, size_t col) : CMatrixFloat(row,col)
                        { }

                        /** Copy constructor
                          */
                        CMatrix( const CMatrixFloat &m ) : CMatrixFloat(m)
                        { }

                        /** Copy constructor
                          */
                        CMatrix( const CMatrixTemplateNumeric<double> &m ) : CMatrixFloat(0,0)
                        {
                                *this = m;
                        }

                        /** Constructor from a mrpt::poses::CPose2D, which generates a 3x1 matrix \f$ [x y \phi]^T \f$
                           */
                        explicit CMatrix( const mrpt::poses::CPose2D &p) : CMatrixFloat(p) {}

                        /** Constructor from a mrpt::poses::CPose6D, which generates a 6x1 matrix \f$ [x y z yaw pitch roll]^T \f$
                           */
                        explicit CMatrix( const mrpt::poses::CPose3D &p) : CMatrixFloat(p) {}

                        /** Constructor from a mrpt::poses::CPoint2D, which generates a 2x1 matrix \f$ [x y]^T \f$
                           */
                        explicit CMatrix( const mrpt::poses::CPoint2D &p) : CMatrixFloat(p) {}

                        /** Constructor from a mrpt::poses::CPoint3D, which generates a 3x1 matrix \f$ [x y z]^T \f$
                           */
                        explicit CMatrix( const mrpt::poses::CPoint3D &p) : CMatrixFloat(p) {}

                        /** Assignment operator for float matrixes
                        */
                        CMatrix & operator = (const CMatrixFloat& m)
                        {
                                CMatrixFloat::operator =(m);
                                return *this;
                        }

                        /** Assignment operator for double matrixes
                           */
                        CMatrix &operator = (const CMatrixTemplateNumeric<double>& m)
                        {
                                setSize(m.getRowCount(),m.getColCount());

                                for (size_t i=0;i<m.getRowCount();i++)
                                        for (size_t j=0;j<m.getColCount();j++)
                                                set_unsafe(i,j, static_cast<float>( m.get_unsafe(i,j) ) );
                                return *this;
                        }

                }; // end of class definition

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

#endif