Tools/Math/Points3D.h

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/**
* @file Points3D.h
* 
* Definition of class Points3D
*
* @author Martin Lötzsch
*/

#ifndef __Points3D_h_
#define __Points3D_h_

#include "Tools/Streams/InOut.h"
#include "Tools/RingBuffer.h"
#include "Vector3.h"

/** The maximum number of points that can be stored */
const int maxNumberOf3DPoints = 20;

/** 
* @class Points3D
* 
* A ring buffer for 3 dimensional points relative to the robot that can be 
* moved in x,y by odometry.
* 
* @author Martin Lötzsch
*/
class Points3D : public RingBuffer<Vector3<double>,maxNumberOf3DPoints>
{
public:
  /**Constructor */
  Points3D();
  
  /** Destructor */
  ~Points3D();
};

/**
* Streaming operator that reads a Points3D from a stream.
* @param stream The stream from which is read.
* @param points3D The Points3D object.
* @return The stream.
*/ 
In& operator>>(In& stream,Points3D& points3D);

/**
* Streaming operator that writes a Points3D to a stream.
* @param stream The stream to write on.
* @param points3D The Points3D object.
* @return The stream.
*/ 
Out& operator<<(Out& stream, const Points3D& points3D);


#endif //__Points3D_h_

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