CMatrixD.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 CMATRIXD_H
#define CMATRIXD_H

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

namespace mrpt
{
namespace math
{
/**  This class is a "CSerializable" wrapper for
 * "CMatrixTemplateNumeric<double>".
 * \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 CMatrixD : public mrpt::utils::CSerializable,
                                 public CMatrixTemplateNumeric<double>
{
        DEFINE_SERIALIZABLE(CMatrixD)
   public:
        /** Constructor */
        CMatrixD() : CMatrixTemplateNumeric<double>(1, 1) {}
        /** Constructor */
        CMatrixD(size_t row, size_t col) : CMatrixTemplateNumeric<double>(row, col)
        {
        }

        /** Copy constructor */
        CMatrixD(const CMatrixTemplateNumeric<double>& m)
                : CMatrixTemplateNumeric<double>(m)
        {
        }

        /** Copy constructor  */
        CMatrixD(const CMatrixFloat& m) : CMatrixTemplateNumeric<double>(0, 0)
        {
                *this = m.eval().cast<double>();
        }

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

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

};  // end of class definition
mrpt::utils::CStream& operator>>(mrpt::utils::CStream& in, CMatrixD::Ptr& pObj);

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

#endif