00001 //================================================================================================= 00002 // Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Simulation, Systems Optimization and Robotics 00013 // group, TU Darmstadt nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef drawinterface_h__ 00030 #define drawinterface_h__ 00031 00032 #include <Eigen/Core> 00033 #include <string> 00034 00035 class DrawInterface{ 00036 public: 00037 virtual void setNamespace(const std::string& ns) = 0; 00038 00039 virtual void drawPoint(const Eigen::Vector2f& pointWorldFrame) = 0; 00040 virtual void drawArrow(const Eigen::Vector3f& poseWorld) = 0; 00041 virtual void drawCovariance(const Eigen::Vector2f& mean, const Eigen::Matrix2f& cov) = 0; 00042 virtual void drawCovariance(const Eigen::Vector3f& mean, const Eigen::Matrix3f& covMatrix) = 0; 00043 00044 virtual void setScale(double scale) = 0; 00045 virtual void setColor(double r, double g, double b, double a = 1.0) = 0; 00046 00047 virtual void sendAndResetData() = 0; 00048 }; 00049 00050 #endif