CPoseOrPoint_detail.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 CPOSEORPOINT_DETAIL_H
#define CPOSEORPOINT_DETAIL_H

#include <mrpt/poses/poses_frwds.h>

namespace mrpt
{
        namespace poses
        {
                /** Internal, auxiliary templates for MRPT classes */
                namespace detail
                {
                        template <class POSEORPOINT>  struct T3DTypeHelper; // generic version. Specialized below.

                        template <>  struct T3DTypeHelper<CPoint2D> { enum { is_3D_val = 0 }; };
                        template <>  struct T3DTypeHelper<CPoint3D> { enum { is_3D_val = 1 }; };
                        template <>  struct T3DTypeHelper<CPose2D> { enum { is_3D_val = 0 }; };
                        template <>  struct T3DTypeHelper<CPose3D> { enum { is_3D_val = 1 }; };
                        template <>  struct T3DTypeHelper<CPose3DQuat> { enum { is_3D_val = 1 }; };
                        template <>  struct T3DTypeHelper<CPose3DRotVec> { enum { is_3D_val = 1 }; };


                        template <class DERIVEDCLASS, int IS3D> struct pose_point_impl;  // generic template, specialized below:

                        // Extra members for 3D implementation:
                        template <class DERIVEDCLASS> struct pose_point_impl<DERIVEDCLASS,1>
                        {
                                inline double z() const /*!< Get Z coord. */ { return static_cast<const DERIVEDCLASS*>(this)->m_coords[2]; }
                                inline double &z() /*!< Get ref to Z coord. */ { return static_cast<DERIVEDCLASS*>(this)->m_coords[2]; }
                                inline void z(const double v) /*!< Set Z coord. */ { static_cast<DERIVEDCLASS*>(this)->m_coords[2]=v; }
                                inline void z_incr(const double v) /*!< Z+=v */ { static_cast<DERIVEDCLASS*>(this)->m_coords[2]+=v; }
                        };

                        // Extra members for 2D implementation:
                        template <class DERIVEDCLASS> struct pose_point_impl<DERIVEDCLASS,0>
                        {
                        };

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

#endif