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CPoseOrPoint_detail.h

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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 CPOSEORPOINT_DETAIL_H
00029 #define CPOSEORPOINT_DETAIL_H
00030 
00031 namespace mrpt
00032 {
00033         namespace poses
00034         {
00035                 class CPoint2D;
00036                 class CPoint3D;
00037                 class CPose2D;
00038                 class CPose3D;
00039                 class CPose3DQuat;
00040 
00041                 /** Internal, auxiliary templates for MRPT classes */
00042                 namespace detail
00043                 {
00044                         template <class POSEORPOINT>  struct T3DTypeHelper; // generic version. Specialized below.
00045 
00046                         template <>  struct T3DTypeHelper<CPoint2D> { enum { is_3D_val = 0 }; };
00047                         template <>  struct T3DTypeHelper<CPoint3D> { enum { is_3D_val = 1 }; };
00048                         template <>  struct T3DTypeHelper<CPose2D> { enum { is_3D_val = 0 }; };
00049                         template <>  struct T3DTypeHelper<CPose3D> { enum { is_3D_val = 1 }; };
00050                         template <>  struct T3DTypeHelper<CPose3DQuat> { enum { is_3D_val = 1 }; };
00051 
00052 
00053 
00054                         template <class DERIVEDCLASS, int IS3D> struct pose_point_impl;  // generic template, specialized below:
00055 
00056                         // Extra members for 3D implementation:
00057                         template <class DERIVEDCLASS> struct pose_point_impl<DERIVEDCLASS,1>
00058                         {
00059                                 inline double z() const /*!< Get Z coord. */ { return static_cast<const DERIVEDCLASS*>(this)->m_coords[2]; }
00060                                 inline double &z() /*!< Get ref to Z coord. */ { return static_cast<DERIVEDCLASS*>(this)->m_coords[2]; }
00061                                 inline void z(const double v) /*!< Set Z coord. */ { static_cast<DERIVEDCLASS*>(this)->m_coords[2]=v; }
00062                                 inline void z_incr(const double v) /*!< Z+=v */ { static_cast<DERIVEDCLASS*>(this)->m_coords[2]+=v; }
00063                         };
00064 
00065                         // Extra members for 2D implementation:
00066                         template <class DERIVEDCLASS> struct pose_point_impl<DERIVEDCLASS,0>
00067                         {
00068                         };
00069 
00070                 } // End of namespace
00071         } // End of namespace
00072 } // End of namespace
00073 
00074 #endif



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