CMatrix.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */
#pragma once

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

namespace mrpt::math
{
/**  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_math_grp
 */
class CMatrix : public mrpt::serialization::CSerializable, public CMatrixFloat
{
    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.eval().cast<float>();
    }
    MRPT_MATRIX_CONSTRUCTORS_FROM_POSES(CMatrix)

    /** 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
mrpt::serialization::CArchive& operator>>(
    mrpt::serialization::CArchive& in, CMatrix::Ptr& pObj);

}