CMatrix.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CMATRIX_H
#define CMATRIX_H

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

namespace mrpt
{
        namespace math
        {
                // This must be added to any CSerializable derived class:
                // Note: instead of the standard "DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE", classes inheriting
                // from templates need special nasty handling for MSVC DLL exports...
                DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE2(CMatrix, mrpt::utils::CSerializable, CMatrix)
                BASE_IMPEXP ::mrpt::utils::CStream& operator>>(mrpt::utils::CStream& in, CMatrixPtr &pObj);

                /**  This class is a "CSerializable" wrapper for "CMatrixFloat".
                 * \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
                 * \ingroup mrpt_base_grp
                 */
                class BASE_IMPEXP_TEMPL CMatrix : public mrpt::utils::CSerializable, public CMatrixFloat
                {
                        // This must be added to any CSerializable derived class:
                        DEFINE_SERIALIZABLE_CUSTOM_LINKAGE( CMatrix, void BASE_IMPEXP, static BASE_IMPEXP, virtual BASE_IMPEXP )

                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.eval().cast<float>();
                        }

                        /** Constructor from a TPose2D, which generates a 3x1 matrix \f$ [x y \phi]^T \f$ */
                        explicit CMatrix( const TPose2D &p);
                        /** Constructor from a mrpt::poses::CPose6D, which generates a 6x1 matrix \f$ [x y z yaw pitch roll]^T \f$  */
                        explicit CMatrix( const TPose3D &p);
                        /** Constructor from a TPoint2D, which generates a 2x1 matrix \f$ [x y]^T \f$  */
                        explicit CMatrix( const TPoint2D &p);
                        /** Constructor from a TPoint3D, which generates a 3x1 matrix \f$ [x y z]^T \f$ */
                        explicit CMatrix( const TPoint3D &p);

                        /** Assignment operator for float matrixes
                        */
                        template <class OTHERMAT>
                        inline CMatrix & operator = (const OTHERMAT& m)
                        {
                                CMatrixFloat::operator =(m);
                                return *this;
                        }

                        /*! Assignment operator from any other Eigen class */
                        template<typename OtherDerived>
                        inline CMatrix & operator= (const Eigen::MatrixBase <OtherDerived>& other) {
                                CMatrixTemplateNumeric<float>::operator=(other);
                                return *this;
                        }
                        /*! Constructor from any other Eigen class */
                        template<typename OtherDerived>
                        inline CMatrix(const Eigen::MatrixBase <OtherDerived>& other) : CMatrixTemplateNumeric<float>(other) { }

                }; // end of class definition
                DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_LINKAGE2(CMatrix, mrpt::utils::CSerializable, CMatrix)

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

#endif