00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 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 CPOINT_H 00029 #define CPOINT_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/poses/CPoseOrPoint.h> 00033 00034 namespace mrpt 00035 { 00036 namespace poses 00037 { 00038 00039 DEFINE_SERIALIZABLE_PRE( CPoint ) 00040 00041 /** A virtual base class to represent a point in 2D or 3D. 00042 * 00043 * 00044 * For more information refer to the <a href="http://babel.isa.uma.es/mrpt/index.php/2D_3D_Geometry">2D/3D Geometry tutorial</a> in the wiki. 00045 * 00046 * \sa CPoseOrPoint,CPose, CPoint 00047 */ 00048 class MRPTDLLIMPEXP CPoint : public CPoseOrPoint 00049 { 00050 // This must be added to any CSerializable derived class: 00051 DEFINE_VIRTUAL_SERIALIZABLE( CPoint ) 00052 00053 public: 00054 /** Scalar sum of components: This is diferent from poses 00055 * composition, which is implemented as "+" operators in "CPose" derived classes. 00056 */ 00057 void AddComponents(CPoseOrPoint &p); 00058 00059 /** Scalar multiplication. 00060 */ 00061 void operator *=(const double &s); 00062 00063 }; // End of class def. 00064 00065 00066 } // End of namespace 00067 } // End of namespace 00068 00069 #endif
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