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 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 CMatrix : public mrpt::utils::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>();
        }

        /** 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
mrpt::utils::CStream& operator>>(mrpt::utils::CStream& in, CMatrix::Ptr& pObj);

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

#endif