CMyEllipsoid.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2012  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef opengl_CMyEllipsoid_H
#define opengl_CMyEllipsoid_H

#include <mrpt/opengl/CRenderizableDisplayList.h>
#include <mrpt/math/CMatrixD.h>
#include <mrpt/math/CMatrixFixedNumeric.h>

namespace mrpt
{
        namespace opengl
        {
                class OPENGL_IMPEXP CMyEllipsoid;

                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CMyEllipsoid, CRenderizableDisplayList, OPENGL_IMPEXP )

                
                class OPENGL_IMPEXP CMyEllipsoid : public CRenderizableDisplayList
                {
                        DEFINE_SERIALIZABLE( CMyEllipsoid )

                protected:
                        math::CMatrixD          m_eigVal,m_eigVec,m_prevComputedCov;

                        math::CMatrixD  m_cov;          
                        bool                    m_drawSolid3D;  
                        float                   m_quantiles;    
                        unsigned int    m_2D_segments;  
                        unsigned int    m_3D_segments;  
                        float                   m_lineWidth;    

                public:
                        void setCovMatrix( const mrpt::math::CMatrixDouble &m, int resizeToSize = -1 ); 
                        void setCovMatrix( const mrpt::math::CMatrixFloat &m, int resizeToSize = -1 ); 

                        template <typename T>
                        void setCovMatrix( const mrpt::math::CMatrixFixedNumeric<T,3,3> &m, int resizeToSize = -1 )     {
                                setCovMatrix(mrpt::math::CMatrixTemplateNumeric<T>(m),resizeToSize);
                        }

                        template <typename T>
                        void setCovMatrix( const mrpt::math::CMatrixFixedNumeric<T,2,2> &m )    {
                                setCovMatrix(mrpt::math::CMatrixTemplateNumeric<T>(m));
                        }

                        mrpt::math::CMatrixDouble getCovMatrix() const { return mrpt::math::CMatrixDouble(m_cov); }

                        void enableDrawSolid3D(bool v) { m_drawSolid3D = v; CRenderizableDisplayList::notifyChange(); } 
                        void setQuantiles(float q) { m_quantiles=q; CRenderizableDisplayList::notifyChange(); } 
                        float getQuantiles() const { return m_quantiles; }

                        void set2DsegmentsCount(unsigned int N) { m_2D_segments=N; CRenderizableDisplayList::notifyChange(); }  
                        void set3DsegmentsCount(unsigned int N) { m_3D_segments=N; CRenderizableDisplayList::notifyChange(); } 

                        void setLineWidth(float w) { m_lineWidth=w; CRenderizableDisplayList::notifyChange(); } 
                        float getLineWidth() const { return m_lineWidth; }


                        void  render_dl() const;
                        virtual bool traceRay(const mrpt::poses::CPose3D &o,double &dist) const;
                        virtual void getBoundingBox(mrpt::math::TPoint3D&, mrpt::math::TPoint3D&) const{}
                        CObject* duplicate(){return this;}
                private:
                        CMyEllipsoid() : m_eigVal(),m_eigVec(),m_prevComputedCov(),
                                m_cov(2,2),
                                m_drawSolid3D(true),
                                m_quantiles(3),
                                m_2D_segments(20),
                                m_3D_segments(20),
                                m_lineWidth(1.0)
                        {
                        }
                        virtual ~CMyEllipsoid() { }
                };

        } // end namespace

} // End of namespace


#endif