00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef MRPT_POSES_HELPERS_H 00029 #define MRPT_POSES_HELPERS_H 00030 00031 #include <mrpt/poses/CPose3D.h> 00032 #include <mrpt/poses/CPose2D.h> 00033 #include <mrpt/poses/CPose3DQuat.h> 00034 00035 #include <mrpt/poses/CPosePDFGaussian.h> 00036 #include <mrpt/poses/CPose3DPDFGaussian.h> 00037 #include <mrpt/poses/CPose3DQuatPDFGaussian.h> 00038 #include <mrpt/poses/CPosePDFGaussianInf.h> 00039 #include <mrpt/poses/CPose3DPDFGaussianInf.h> 00040 00041 namespace mrpt 00042 { 00043 namespace poses 00044 { 00045 /** @name Helper templates to convert a pose or a pose PDF to its mean value at compile time. 00046 @{ 00047 */ 00048 template <class POSE> inline const typename POSE::type_value &getPoseMean(const POSE &p); 00049 template <class POSE> inline typename POSE::type_value &getPoseMean( POSE &p); 00050 00051 template <> inline const CPose2D &getPoseMean<CPose2D>(const CPose2D &p) { return p;} 00052 template <> inline const CPose3D &getPoseMean<CPose3D>(const CPose3D &p) { return p;} 00053 template <> inline const CPose3DQuat &getPoseMean<CPose3DQuat>(const CPose3DQuat &p) { return p;} 00054 template <> inline CPose2D &getPoseMean<CPose2D>(CPose2D &p) { return p;} 00055 template <> inline CPose3D &getPoseMean<CPose3D>(CPose3D &p) { return p;} 00056 template <> inline CPose3DQuat &getPoseMean<CPose3DQuat>(CPose3DQuat &p) { return p;} 00057 00058 template <> inline const CPose2D &getPoseMean<CPosePDFGaussian>(const CPosePDFGaussian &p) { return p.mean;} 00059 template <> inline const CPose2D &getPoseMean<CPosePDFGaussianInf>(const CPosePDFGaussianInf &p) { return p.mean;} 00060 template <> inline const CPose3D &getPoseMean<CPose3DPDFGaussian>(const CPose3DPDFGaussian &p) { return p.mean;} 00061 template <> inline const CPose3D &getPoseMean<CPose3DPDFGaussianInf>(const CPose3DPDFGaussianInf &p) { return p.mean;} 00062 template <> inline const CPose3DQuat &getPoseMean<CPose3DQuatPDFGaussian>(const CPose3DQuatPDFGaussian &p) { return p.mean;} 00063 00064 template <> inline CPose2D &getPoseMean<CPosePDFGaussian>(CPosePDFGaussian &p) { return p.mean;} 00065 template <> inline CPose2D &getPoseMean<CPosePDFGaussianInf>(CPosePDFGaussianInf &p) { return p.mean;} 00066 template <> inline CPose3D &getPoseMean<CPose3DPDFGaussian>(CPose3DPDFGaussian &p) { return p.mean;} 00067 template <> inline CPose3D &getPoseMean<CPose3DPDFGaussianInf>(CPose3DPDFGaussianInf &p) { return p.mean;} 00068 template <> inline CPose3DQuat &getPoseMean<CPose3DQuatPDFGaussian>(CPose3DQuatPDFGaussian &p) { return p.mean;} 00069 /** @} */ 00070 00071 } // End of namespace 00072 } // End of namespace 00073 00074 #endif
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