CPoseOrPoint_detail.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 |
   +------------------------------------------------------------------------+ */
#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