CEllipsoid.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2011  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_CEllipsoid_H
#define opengl_CEllipsoid_H

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

namespace mrpt
{
        namespace opengl
        {
                class OPENGL_IMPEXP CEllipsoid;

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

                /** 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.
                  *  \sa opengl::COpenGLScene
                  *
                  *  <div align="center">
                  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
                  *   <tr> <td> mrpt::opengl::CEllipsoid </td> <td> \image html preview_CEllipsoid.png </td> </tr>
                  *  </table>
                  *  </div>
                  *
                  * \ingroup mrpt_opengl_grp
                  */
                class OPENGL_IMPEXP CEllipsoid : public CRenderizableDisplayList
                {
                        DEFINE_SERIALIZABLE( CEllipsoid )

                protected:
                        /** Used to store computed values the first time this is rendered, and to avoid recomputing them again.
                         */
                        math::CMatrixD          m_eigVal,m_eigVec,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)

                public:
                        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).

                        /**  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 )     {
                                setCovMatrix(mrpt::math::CMatrixTemplateNumeric<T>(m),resizeToSize);
                        }

                        /**  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 )    {
                                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(); } //!< 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) { m_quantiles=q; CRenderizableDisplayList::notifyChange(); } //!< The number of "sigmas" for drawing the ellipse/ellipsoid (default=3)
                        float getQuantiles() const { return m_quantiles; }

                        void set2DsegmentsCount(unsigned int N) { m_2D_segments=N; CRenderizableDisplayList::notifyChange(); }  //!< The number of segments of a 2D ellipse (default=20)
                        void set3DsegmentsCount(unsigned int N) { m_3D_segments=N; CRenderizableDisplayList::notifyChange(); } //!< The number of segments of a 3D ellipse (in both "axis") (default=20)

                        void setLineWidth(float w) { m_lineWidth=w; } //!< The line width for 2D ellipses or 3D wireframe ellipsoids (default=1)
                        float getLineWidth() const { return m_lineWidth; }


                        /** 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.
                          */
                        void  render_dl() const;
                        /** Ray tracing
                          */
                        virtual bool traceRay(const mrpt::poses::CPose3D &o,double &dist) const;

                private:
                        /** Constructor
                          */
                        CEllipsoid() : 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)
                        {
                        }
                        /** Private, virtual destructor: only can be deleted from smart pointers */
                        virtual ~CEllipsoid() { }
                };

        } // end namespace

} // End of namespace


#endif