#include <CMyEllipsoid.h>

Public Member Functions
CObject *	duplicate ()
void	enableDrawSolid3D (bool v)
	If set to true (default), a whole ellipsoid surface will be drawn, or if set to "false" it will be drawn as a "wireframe".
virtual void	getBoundingBox (mrpt::math::TPoint3D &, mrpt::math::TPoint3D &) const
mrpt::math::CMatrixDouble	getCovMatrix () const
float	getLineWidth () const
float	getQuantiles () const
void	render_dl () const
void	set2DsegmentsCount (unsigned int N)
	The number of segments of a 2D ellipse (default=20)
void	set3DsegmentsCount (unsigned int N)
	The number of segments of a 3D ellipse (in both "axis") (default=20)
void	setCovMatrix (const mrpt::math::CMatrixDouble &m, int resizeToSize=-1)
	Set the 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid (if resizeToSize>0, the matrix will be cut to the square matrix of the given size)
void	setCovMatrix (const mrpt::math::CMatrixFloat &m, int resizeToSize=-1)
	Set the 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid (if resizeToSize>0, the matrix will be cut to the square matrix of the given size).
template<typename T >
void	setCovMatrix (const mrpt::math::CMatrixFixedNumeric< T, 3, 3 > &m, int resizeToSize=-1)
template<typename T >
void	setCovMatrix (const mrpt::math::CMatrixFixedNumeric< T, 2, 2 > &m)
void	setLineWidth (float w)
	The line width for 2D ellipses or 3D wireframe ellipsoids (default=1)
void	setQuantiles (float q)
	The number of "sigmas" for drawing the ellipse/ellipsoid (default=3)
virtual bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const
Protected Attributes
unsigned int	m_2D_segments
	The number of segments of a 2D ellipse (default=20)
unsigned int	m_3D_segments
	The number of segments of a 3D ellipse (in both "axis") (default=20)
math::CMatrixD	m_cov
	The 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid.
bool	m_drawSolid3D
	If set to true (default), a whole ellipsoid surface will be drawn, or if set to "false" it will be drawn as a "wireframe".
math::CMatrixD	m_eigVal
math::CMatrixD	m_eigVec
float	m_lineWidth
	The line width for 2D ellipses or 3D wireframe ellipsoids (default=1)
math::CMatrixD	m_prevComputedCov
float	m_quantiles
	The number of "sigmas" for drawing the ellipse/ellipsoid (default=3)
Private Member Functions
	CMyEllipsoid ()
virtual	~CMyEllipsoid ()

Detailed Description

A 2D ellipse or 3D ellipsoid, depending on the size of the m_cov matrix (2x2 or 3x3). The center of the ellipsoid is the "m_x,m_y,m_z" object's coordinates. In the case of a 2D ellipse it will be drawn in the XY plane, for z=0. The color is determined by the RGBA fields in the class "CRenderizable". Note that a transparent ellipsoid can be drawn for "0<alpha<1" values. If one of the eigen value of the covariance matrix of the ellipsoid is null, ellipsoid will not be rendered.

See also:: opengl::COpenGLScene

Please read the documentation of CGeneralizedEllipsoidTemplate::setQuantiles() for learning the mathematical details about setting the desired confidence interval.

mrpt::opengl::CMyEllipsoid

Definition at line 64 of file CMyEllipsoid.h.

Constructor & Destructor Documentation

mrpt::opengl::CMyEllipsoid::CMyEllipsoid ( ) [inline, private]

Constructor

Definition at line 124 of file CMyEllipsoid.h.

virtual mrpt::opengl::CMyEllipsoid::~CMyEllipsoid ( ) [inline, private, virtual]

Private, virtual destructor: only can be deleted from smart pointers

Definition at line 134 of file CMyEllipsoid.h.

Member Function Documentation

CObject* mrpt::opengl::CMyEllipsoid::duplicate ( ) [inline]

Definition at line 120 of file CMyEllipsoid.h.

void mrpt::opengl::CMyEllipsoid::enableDrawSolid3D ( bool v ) [inline]

If set to true (default), a whole ellipsoid surface will be drawn, or if set to "false" it will be drawn as a "wireframe".

Definition at line 100 of file CMyEllipsoid.h.

virtual void mrpt::opengl::CMyEllipsoid::getBoundingBox	(	mrpt::math::TPoint3D &	,
		mrpt::math::TPoint3D &
	)		const `[inline, virtual]`

Definition at line 119 of file CMyEllipsoid.h.

mrpt::math::CMatrixDouble mrpt::opengl::CMyEllipsoid::getCovMatrix ( ) const [inline]

Definition at line 98 of file CMyEllipsoid.h.

float mrpt::opengl::CMyEllipsoid::getLineWidth ( ) const [inline]

Definition at line 108 of file CMyEllipsoid.h.

float mrpt::opengl::CMyEllipsoid::getQuantiles ( ) const [inline]

Definition at line 102 of file CMyEllipsoid.h.

void CMyEllipsoid::render_dl ( ) const

Render If one of the eigen value of the covariance matrix of the ellipsoid is null, ellipsoid will not be rendered to ensure stability in the rendering process.

Definition at line 50 of file CMyEllipsoid.cpp.

void mrpt::opengl::CMyEllipsoid::set2DsegmentsCount ( unsigned int N ) [inline]

The number of segments of a 2D ellipse (default=20)

Definition at line 104 of file CMyEllipsoid.h.

void mrpt::opengl::CMyEllipsoid::set3DsegmentsCount ( unsigned int N ) [inline]

The number of segments of a 3D ellipse (in both "axis") (default=20)

Definition at line 105 of file CMyEllipsoid.h.

void CMyEllipsoid::setCovMatrix	(	const mrpt::math::CMatrixDouble &	m,
		int	resizeToSize = `-1`
	)

Set the 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid (if resizeToSize>0, the matrix will be cut to the square matrix of the given size)

Definition at line 255 of file CMyEllipsoid.cpp.

void CMyEllipsoid::setCovMatrix	(	const mrpt::math::CMatrixFloat &	m,
		int	resizeToSize = `-1`
	)

Set the 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid (if resizeToSize>0, the matrix will be cut to the square matrix of the given size).

Definition at line 293 of file CMyEllipsoid.cpp.

template<typename T >

void mrpt::opengl::CMyEllipsoid::setCovMatrix	(	const mrpt::math::CMatrixFixedNumeric< T, 3, 3 > &	m,
		int	resizeToSize = `-1`
	)		`[inline]`

Set the 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid (if resizeToSize>0, the matrix will be cut to the square matrix of the given size)

Definition at line 87 of file CMyEllipsoid.h.

template<typename T >

void mrpt::opengl::CMyEllipsoid::setCovMatrix ( const mrpt::math::CMatrixFixedNumeric< T, 2, 2 > & m ) [inline]

Set the 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid (if resizeToSize>0, the matrix will be cut to the square matrix of the given size)

Definition at line 94 of file CMyEllipsoid.h.

void mrpt::opengl::CMyEllipsoid::setLineWidth ( float w ) [inline]

The line width for 2D ellipses or 3D wireframe ellipsoids (default=1)

Definition at line 107 of file CMyEllipsoid.h.

void mrpt::opengl::CMyEllipsoid::setQuantiles ( float q ) [inline]

The number of "sigmas" for drawing the ellipse/ellipsoid (default=3)

Definition at line 101 of file CMyEllipsoid.h.