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
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