Class CEllipsoid2D

Inheritance Relationships

Base Type

Class Documentation

class CEllipsoid2D : public mrpt::viz::CGeneralizedEllipsoidTemplate<2>

A 2D ellipse on the XY plane, centered at the origin of this object pose.

The color is determined by the RGBA fields in the class “CRenderizable”. Note that a transparent ellipse can be drawn for “0<alpha<1” values. If any of the eigen value of the covariance matrix of the ellipsoid is zero, it will not be rendered.

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

../../output_staging/generated/doxygen/xml/preview_CEllipsoid.png

See also

opengl::Scene

Public Functions

CEllipsoid2D() = default
virtual ~CEllipsoid2D() override = default
inline void set2DsegmentsCount(unsigned int N)

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

virtual bool traceRay(const mrpt::poses::CPose3D &o, double &dist) const override

Ray tracing

Protected Functions

void transformFromParameterSpace(const std::vector<BASE::array_parameter_t> &in_pts, std::vector<BASE::array_point_t> &out_pts) const override

To be implemented by derived classes: maps, using some arbitrary space transformation, a list of points defining an ellipsoid in parameter space into their corresponding points in 2D/3D space.