Main MRPT website > C++ reference
MRPT logo

CPose.h

Go to the documentation of this file.
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 CPOSE_H
00029 #define CPOSE_H
00030 
00031 #include <mrpt/poses/CPoseOrPoint.h>
00032 
00033 namespace mrpt
00034 {
00035         namespace poses
00036         {
00037                 /** A base class for representing a pose in 2D or 3D.
00038                  *   For more information refer to the <a href="http://www.mrpt.org/2D_3D_Geometry">2D/3D Geometry tutorial</a> online.
00039                  * \note This class is based on the CRTP design pattern
00040                  * \sa CPoseOrPoint, CPoint
00041                  */
00042                 template <class DERIVEDCLASS>
00043                 class CPose : public CPoseOrPoint<DERIVEDCLASS>
00044                 {
00045                 public:
00046                          /** The operator \f$ a \ominus b \f$ is the pose inverse compounding operator. */
00047                          CPose3D  operator - (const CPose3D& b) const; // Implemented in CPose3D.h !!
00048 
00049                 }; // End of class def.
00050 
00051         } // End of namespace
00052 } // End of namespace
00053 
00054 #endif



Page generated by Doxygen 1.7.3 for MRPT 0.9.4 SVN: at Sat Mar 26 06:40:17 UTC 2011