DrawInterface.h

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//=================================================================================================
// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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//=================================================================================================

#ifndef drawinterface_h__
#define drawinterface_h__

#include <Eigen/Core>
#include <string>

class DrawInterface{
public:
  virtual void setNamespace(const std::string& ns) = 0;

  virtual void drawPoint(const Eigen::Vector2f& pointWorldFrame) = 0;
  virtual void drawArrow(const Eigen::Vector3f& poseWorld) = 0;
  virtual void drawCovariance(const Eigen::Vector2f& mean, const Eigen::Matrix2f& cov) = 0;
  virtual void drawCovariance(const Eigen::Vector3f& mean, const Eigen::Matrix3f& covMatrix) = 0;

  virtual void setScale(double scale) = 0;
  virtual void setColor(double r, double g, double b, double a = 1.0) = 0;

  virtual void sendAndResetData() = 0;
};

#endif