#include <mrpt/opengl/CEllipsoid.h>
Public Member Functions | |
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) |
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, 2, 2 > &m) |
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). | |
mrpt::math::CMatrixDouble | getCovMatrix () const |
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". | |
void | setQuantiles (float q) |
The number of "sigmas" for drawing the ellipse/ellipsoid (default=3). | |
float | getQuantiles () 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 | setLineWidth (float w) |
The line width for 2D ellipses or 3D wireframe ellipsoids (default=1). | |
float | getLineWidth () const |
void | render () const |
Render. | |
virtual bool | traceRay (const mrpt::poses::CPose3D &o, double &dist) const |
Ray tracing. | |
Protected Attributes | |
math::CMatrixD | m_eigVal |
Used to store computed values the first time this is rendered, and to avoid recomputing them again. | |
math::CMatrixD | m_eigVec |
math::CMatrixD | m_prevComputedCov |
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". | |
float | m_quantiles |
The number of "sigmas" for drawing the ellipse/ellipsoid (default=3). | |
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). | |
float | m_lineWidth |
The line width for 2D ellipses or 3D wireframe ellipsoids (default=1). | |
Private Member Functions | |
CEllipsoid () | |
Constructor. | |
virtual | ~CEllipsoid () |
Private, virtual destructor: only can be deleted from smart pointers. |
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.
Definition at line 50 of file CEllipsoid.h.
mrpt::opengl::CEllipsoid::CEllipsoid | ( | ) | [inline, private] |
virtual mrpt::opengl::CEllipsoid::~CEllipsoid | ( | ) | [inline, private, virtual] |
Private, virtual destructor: only can be deleted from smart pointers.
Definition at line 117 of file CEllipsoid.h.
void mrpt::opengl::CEllipsoid::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 86 of file CEllipsoid.h.
mrpt::math::CMatrixDouble mrpt::opengl::CEllipsoid::getCovMatrix | ( | ) | const [inline] |
Definition at line 84 of file CEllipsoid.h.
float mrpt::opengl::CEllipsoid::getLineWidth | ( | ) | const [inline] |
Definition at line 94 of file CEllipsoid.h.
float mrpt::opengl::CEllipsoid::getQuantiles | ( | ) | const [inline] |
Definition at line 88 of file CEllipsoid.h.
void mrpt::opengl::CEllipsoid::render | ( | ) | const [virtual] |
void mrpt::opengl::CEllipsoid::set2DsegmentsCount | ( | unsigned int | N | ) | [inline] |
void mrpt::opengl::CEllipsoid::set3DsegmentsCount | ( | unsigned int | N | ) | [inline] |
The number of segments of a 3D ellipse (in both "axis") (default=20).
Definition at line 91 of file CEllipsoid.h.
void mrpt::opengl::CEllipsoid::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 80 of file CEllipsoid.h.
void mrpt::opengl::CEllipsoid::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 73 of file CEllipsoid.h.
void mrpt::opengl::CEllipsoid::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).
void mrpt::opengl::CEllipsoid::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 mrpt::opengl::CEllipsoid::setLineWidth | ( | float | w | ) | [inline] |
The line width for 2D ellipses or 3D wireframe ellipsoids (default=1).
Definition at line 93 of file CEllipsoid.h.
void mrpt::opengl::CEllipsoid::setQuantiles | ( | float | q | ) | [inline] |
The number of "sigmas" for drawing the ellipse/ellipsoid (default=3).
Definition at line 87 of file CEllipsoid.h.
virtual bool mrpt::opengl::CEllipsoid::traceRay | ( | const mrpt::poses::CPose3D & | o, | |
double & | dist | |||
) | const [virtual] |
unsigned int mrpt::opengl::CEllipsoid::m_2D_segments [protected] |
unsigned int mrpt::opengl::CEllipsoid::m_3D_segments [protected] |
The number of segments of a 3D ellipse (in both "axis") (default=20).
Definition at line 63 of file CEllipsoid.h.
math::CMatrixD mrpt::opengl::CEllipsoid::m_cov [protected] |
The 2x2 or 3x3 covariance matrix that will determine the aspect of the ellipsoid.
Definition at line 59 of file CEllipsoid.h.
bool mrpt::opengl::CEllipsoid::m_drawSolid3D [protected] |
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 60 of file CEllipsoid.h.
math::CMatrixD mrpt::opengl::CEllipsoid::m_eigVal [protected] |
Used to store computed values the first time this is rendered, and to avoid recomputing them again.
Definition at line 57 of file CEllipsoid.h.
math::CMatrixD mrpt::opengl::CEllipsoid::m_eigVec [protected] |
Definition at line 57 of file CEllipsoid.h.
float mrpt::opengl::CEllipsoid::m_lineWidth [protected] |
The line width for 2D ellipses or 3D wireframe ellipsoids (default=1).
Definition at line 64 of file CEllipsoid.h.
Definition at line 57 of file CEllipsoid.h.
float mrpt::opengl::CEllipsoid::m_quantiles [protected] |
The number of "sigmas" for drawing the ellipse/ellipsoid (default=3).
Definition at line 61 of file CEllipsoid.h.
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