An especial "ellipsoid" in 2D computed as the uncertainty iso-surfaces of a (range,bearing) variable.
The parameter space of this ellipsoid comprises these variables (in this order):
This class expects you to provide a mean vector of length 2 and a 2x2 covariance matrix, set with setCovMatrixAndMean().
Please read the documentation of CGeneralizedEllipsoidTemplate::setQuantiles() for learning the mathematical details about setting the desired confidence interval.
Definition at line 39 of file CEllipsoidRangeBearing2D.h.
#include <mrpt/opengl/CEllipsoidRangeBearing2D.h>
Public Types | |
typedef mrpt::math::CMatrixFixedNumeric< double, DIM, DIM > | cov_matrix_t |
The type of fixed-size covariance matrices for this representation. More... | |
typedef mrpt::math::CMatrixFixedNumeric< double, DIM, 1 > | mean_vector_t |
The type of fixed-size vector for this representation. More... | |
typedef mrpt::math::CMatrixFixedNumeric< float, DIM, 1 > | array_parameter_t |
typedef mrpt::math::CMatrixFixedNumeric< float, DIM, 1 > | array_point_t |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
void | setCovMatrixAndMean (const MATRIX &new_cov, const VECTOR &new_mean) |
Set the NxN covariance matrix that will determine the aspect of the ellipsoid - Notice that the covariance determines the uncertainty in the parameter space, which would be transformed by derived function. More... | |
const cov_matrix_t & | getCovMatrix () const |
Gets the current uncertainty covariance of parameter space. More... | |
void | setQuantiles (float q) |
Changes the scale of the "sigmas" for drawing the ellipse/ellipsoid (default=3, ~97 or ~98% CI); the exact mathematical meaning is: This value of "quantiles" q should be set to the square root of the chi-squared inverse cdf corresponding to the desired confidence interval. More... | |
float | getQuantiles () const |
Refer to documentation of setQuantiles() More... | |
void | setLineWidth (float w) |
The line width for 2D ellipses or 3D wireframe ellipsoids (default=1) More... | |
float | getLineWidth () const |
void | setNumberOfSegments (const uint32_t numSegments) |
Set the number of segments of the surface/curve (higher means with greater resolution) More... | |
uint32_t | getNumberOfSegments () |
void | render_dl () const MRPT_OVERRIDE |
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. More... | |
virtual void | getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE |
Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More... | |
virtual bool | traceRay (const mrpt::poses::CPose3D &o, double &dist) const MRPT_OVERRIDE |
Ray tracing. More... | |
CRenderizableDisplayList * | clone () const |
Interface for the stlplus smart pointer class. More... | |
void | render () const MRPT_OVERRIDE |
Render the object, regenerating the display list if needed, otherwise just calling it. More... | |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
mrpt::utils::CObjectPtr | duplicateGetSmartPtr () const |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static void | renderTextBitmap (const char *str, void *fontStyle) |
This method is safe for calling from within ::render() methods. More... | |
static void | renderTextBitmap (int screen_x, int screen_y, const std::string &str, float color_r=1, float color_g=1, float color_b=1, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24) |
Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods) More... | |
static int | textBitmapWidth (const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24) |
Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap(). More... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
Protected Member Functions | |
virtual void | transformFromParameterSpace (const std::vector< BASE::array_parameter_t > &in_pts, std::vector< BASE::array_point_t > &out_pts) const MRPT_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. More... | |
void | thisclass_writeToStream (mrpt::utils::CStream &out) const |
void | thisclass_readFromStream (mrpt::utils::CStream &in) |
void | writeToStreamRender (utils::CStream &out) const |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
Static Protected Member Functions | |
static void | checkOpenGLError () |
Checks glGetError and throws an exception if an error situation is found. More... | |
static unsigned int | getNewTextureNumber () |
Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool). More... | |
static void | releaseTextureName (unsigned int i) |
Protected Attributes | |
cov_matrix_t | m_cov |
mean_vector_t | m_mean |
bool | m_needToRecomputeEigenVals |
float | m_quantiles |
The number of "sigmas" for drawing the ellipse/ellipsoid (default=3) More... | |
float | m_lineWidth |
The line width for 2D ellipses or 3D wireframe ellipsoids (default=1) More... | |
uint32_t | m_numSegments |
Number of segments in 2D/3D ellipsoids (default=10) More... | |
mrpt::math::TPoint3D | m_bb_min |
mrpt::math::TPoint3D | m_bb_max |
cov_matrix_t | m_U |
Cholesky U triangular matrix cache. */. More... | |
std::string | m_name |
bool | m_show_name |
mrpt::utils::TColor | m_color |
Color components in the range [0,255]. More... | |
mrpt::poses::CPose3D | m_pose |
6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack. More... | |
float | m_scale_x |
float | m_scale_y |
float | m_scale_z |
Scale components to apply to the object (default=1) More... | |
bool | m_visible |
Is the object visible? (default=true) More... | |
Private Types | |
typedef CGeneralizedEllipsoidTemplate< 2 > | BASE |
Private Member Functions | |
CEllipsoidRangeBearing2D () | |
Constructor. More... | |
virtual | ~CEllipsoidRangeBearing2D () |
Private, virtual destructor: only can be deleted from smart pointers. More... | |
Private Attributes | |
unsigned int | m_dl |
Display list ID, for derived classes that want to use it (it's automatically deleted and freed on destruction of this base class). More... | |
bool | m_dl_recreate |
If using display lists, this is true when the list must be updated (the object changes, it's the first rendering, etc...). More... | |
RTTI stuff | |
typedef CEllipsoidRangeBearing2DPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CEllipsoidRangeBearing2D |
static mrpt::utils::TRuntimeClassId | classCEllipsoidRangeBearing2D |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CEllipsoidRangeBearing2DPtr | Create () |
Methods accesible or implemented by derived classes | |
virtual void | render_dl () const =0 |
Derived classes must implement this method to the render the object. More... | |
EIGEN_STRONG_INLINE void | notifyChange () const |
Must be called to notify that the object has changed (so, the display list must be updated) More... | |
virtual bool | should_skip_display_list_cache () const |
Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases. More... | |
void | readFromStreamRender (mrpt::utils::CStream &in) |
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Definition at line 64 of file CGeneralizedEllipsoidTemplate.h.
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Definition at line 65 of file CGeneralizedEllipsoidTemplate.h.
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Definition at line 41 of file CEllipsoidRangeBearing2D.h.
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The type of fixed-size covariance matrices for this representation.
Definition at line 61 of file CGeneralizedEllipsoidTemplate.h.
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The type of fixed-size vector for this representation.
Definition at line 62 of file CGeneralizedEllipsoidTemplate.h.
typedef CEllipsoidRangeBearing2DPtr mrpt::opengl::CEllipsoidRangeBearing2D::SmartPtr |
A typedef for the associated smart pointer
Definition at line 42 of file CEllipsoidRangeBearing2D.h.
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inlineprivate |
Constructor.
Definition at line 53 of file CEllipsoidRangeBearing2D.h.
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inlineprivatevirtual |
Private, virtual destructor: only can be deleted from smart pointers.
Definition at line 57 of file CEllipsoidRangeBearing2D.h.
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staticprotected |
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staticprotectedinherited |
Checks glGetError and throws an exception if an error situation is found.
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inlineinherited |
Interface for the stlplus smart pointer class.
Definition at line 71 of file CRenderizableDisplayList.h.
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static |
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static |
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virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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inlineinherited |
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inlinevirtualinherited |
Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent.
Implements mrpt::opengl::CRenderizable.
Definition at line 185 of file CGeneralizedEllipsoidTemplate.h.
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inlineinherited |
Gets the current uncertainty covariance of parameter space.
Definition at line 83 of file CGeneralizedEllipsoidTemplate.h.
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inlineinherited |
Definition at line 115 of file CGeneralizedEllipsoidTemplate.h.
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staticprotectedinherited |
Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).
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inlineinherited |
Definition at line 119 of file CGeneralizedEllipsoidTemplate.h.
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inherited |
Returns the 3D pose of the object as TPose3D.
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inlineinherited |
Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix)
Definition at line 79 of file CRenderizable.h.
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inlineinherited |
Refer to documentation of setQuantiles()
Definition at line 111 of file CGeneralizedEllipsoidTemplate.h.
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Returns information about the class of an object in runtime.
Reimplemented from mrpt::opengl::CRenderizableDisplayList.
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inlineinherited |
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inlineprotectedinherited |
Must be called to notify that the object has changed (so, the display list must be updated)
Definition at line 49 of file CRenderizableDisplayList.h.
Referenced by mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtEnd(), mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtStart(), mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::opengl::CMesh::adjustGridToImageAR(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CSetOfLines::begin(), mrpt::opengl::CSetOfLines::clear(), mrpt::opengl::CVectorField2D::clear(), mrpt::opengl::CVectorField3D::clear(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::COpenGLStandardObject::enable(), mrpt::opengl::CSimpleLine::enableAntiAliasing(), mrpt::opengl::CGridPlaneXZ::enableAntiAliasing(), mrpt::opengl::CGridPlaneXY::enableAntiAliasing(), mrpt::opengl::CMesh3D::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), mrpt::opengl::CSetOfLines::enableAntiAliasing(), mrpt::opengl::CVectorField3D::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::CMeshFast::enableColorFromZ(), mrpt::opengl::COctoMapVoxels::enableCubeTransparency(), mrpt::opengl::C3DSScene::enableExtraAmbientLight(), mrpt::opengl::CMesh3D::enableFaceNormals(), mrpt::opengl::COctoMapVoxels::enableLights(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CSphere::enableRadiusIndependentOfEyeDistance(), mrpt::opengl::CMesh3D::enableShowEdges(), mrpt::opengl::CMesh3D::enableShowFaces(), mrpt::opengl::CVectorField3D::enableShowPoints(), mrpt::opengl::CMesh3D::enableShowVertices(), mrpt::opengl::CPlanarLaserScan::enableSurface(), mrpt::opengl::CAxis::enableTickMarks(), mrpt::opengl::CMesh3D::enableTransparency(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CMeshFast::enableTransparency(), mrpt::opengl::CSetOfTriangles::enableTransparency(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), mrpt::opengl::CMesh::enableWireFrame(), mrpt::opengl::CSetOfLines::end(), mrpt::opengl::COctoMapVoxels::getGridCubeRef(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), mrpt::opengl::COctoMapVoxels::getVoxel(), mrpt::opengl::COctoMapVoxels::getVoxelRef(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::CSetOfLines::reserve(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), mrpt::opengl::CSetOfLines::resize(), mrpt::opengl::CVectorField2D::resize(), mrpt::opengl::CVectorField3D::resize(), mrpt::opengl::COctoMapVoxels::resizeGridCubes(), mrpt::opengl::COctoMapVoxels::resizeVoxels(), mrpt::opengl::COctoMapVoxels::resizeVoxelSets(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsInvisible(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsVisible(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CArrow::setArrowYawPitchRoll(), mrpt::opengl::CGeneralizedCylinder::setAxis(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), mrpt::opengl::CGeneralizedCylinder::setClosed(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::COpenGLStandardObject::setFlags(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CGeneralizedCylinder::setGeneratrix(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CMesh::setGridLimits(), mrpt::opengl::CMeshFast::setGridLimits(), mrpt::opengl::CVectorField2D::setGridLimits(), mrpt::opengl::COctoMapVoxels::setGridLinesColor(), mrpt::opengl::COctoMapVoxels::setGridLinesWidth(), mrpt::opengl::CCylinder::setHasBases(), mrpt::opengl::CArrow::setHeadRatio(), mrpt::opengl::CCylinder::setHeight(), mrpt::opengl::CArrow::setLargeRadius(), mrpt::opengl::CSetOfLines::setLineByIndex(), mrpt::opengl::CSimpleLine::setLineCoords(), mrpt::opengl::CSimpleLine::setLineWidth(), mrpt::opengl::CGridPlaneXZ::setLineWidth(), mrpt::opengl::CGridPlaneXY::setLineWidth(), mrpt::opengl::CSetOfLines::setLineWidth(), mrpt::opengl::CAxis::setLineWidth(), mrpt::opengl::CFrustum::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CVectorField2D::setLineWidth(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setLineWidth(), mrpt::opengl::CVectorField3D::setLineWidth(), mrpt::opengl::CPolyhedron::setLineWidth(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::COpenGLStandardObject::setNormal(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CSphere::setNumberDivsLongitude(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setNumberOfSegments(), mrpt::opengl::CFrustum::setPlaneColor(), mrpt::opengl::CTexturedPlane::setPlaneCorners(), mrpt::opengl::CGridPlaneXY::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneYcoord(), mrpt::opengl::CGridPlaneXY::setPlaneZcoord(), mrpt::opengl::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CVectorField2D::setPointSize(), mrpt::opengl::CVectorField3D::setPointSize(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setQuantiles(), mrpt::opengl::CCylinder::setRadii(), mrpt::opengl::CSphere::setRadius(), mrpt::opengl::CCylinder::setRadius(), mrpt::opengl::CPlanarLaserScan::setScan(), mrpt::opengl::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CCylinder::setStacksCount(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CTexturedPlane::setTextureCornerCoords(), mrpt::opengl::CVectorField2D::setVectorField(), mrpt::opengl::CVectorField3D::setVectorField(), mrpt::opengl::CVectorField2D::setVectorFieldColor(), mrpt::opengl::CVectorField3D::setVectorFieldColor(), mrpt::opengl::CGeneralizedCylinder::setVisibleSections(), mrpt::opengl::COctoMapVoxels::setVisualizationMode(), mrpt::opengl::COctoMapVoxels::setVoxelAsPointsSize(), mrpt::opengl::CBox::setWireframe(), mrpt::opengl::CAngularObservationMesh::setWireframe(), mrpt::opengl::CPolyhedron::setWireframe(), mrpt::opengl::CMeshFast::setXBounds(), mrpt::opengl::CMesh::setXBounds(), mrpt::opengl::CMeshFast::setXMax(), mrpt::opengl::CMesh::setXMax(), mrpt::opengl::CMeshFast::setXMin(), mrpt::opengl::CMesh::setXMin(), mrpt::opengl::CMeshFast::setYBounds(), mrpt::opengl::CMesh::setYBounds(), mrpt::opengl::CMeshFast::setYMax(), mrpt::opengl::CMesh::setYMax(), mrpt::opengl::CMeshFast::setYMin(), mrpt::opengl::CMesh::setYMin(), mrpt::opengl::COctoMapVoxels::showGridLines(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::showVoxelsAsPoints(), and mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::thisclass_readFromStream().
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Definition at line 42 of file CEllipsoidRangeBearing2D.h.
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inline |
Definition at line 42 of file CEllipsoidRangeBearing2D.h.
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inline |
Definition at line 42 of file CEllipsoidRangeBearing2D.h.
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inline |
Definition at line 42 of file CEllipsoidRangeBearing2D.h.
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inline |
Definition at line 42 of file CEllipsoidRangeBearing2D.h.
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inline |
Definition at line 42 of file CEllipsoidRangeBearing2D.h.
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inlinestatic |
Definition at line 42 of file CEllipsoidRangeBearing2D.h.
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inline |
Definition at line 42 of file CEllipsoidRangeBearing2D.h.
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protectedvirtual |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
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inlineprotectedinherited |
Definition at line 58 of file CRenderizableDisplayList.h.
References mrpt::opengl::CRenderizable::readFromStreamRender().
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staticprotectedinherited |
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virtualinherited |
Render the object, regenerating the display list if needed, otherwise just calling it.
Implements mrpt::opengl::CRenderizable.
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protectedpure virtualinherited |
Derived classes must implement this method to the render the object.
Implemented in mrpt::opengl::CPolyhedron, mrpt::opengl::CVectorField3D, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CVectorField2D, mrpt::opengl::COctoMapVoxels, mrpt::opengl::CMesh, mrpt::opengl::CSetOfLines, mrpt::opengl::CMeshFast, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CPlanarLaserScan, mrpt::opengl::CMesh3D, mrpt::opengl::CEllipsoid, mrpt::opengl::CFrustum, mrpt::opengl::CText3D, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CTexturedObject, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CAxis, mrpt::opengl::CArrow, mrpt::opengl::CSphere, mrpt::opengl::CSimpleLine, mrpt::opengl::CCylinder, mrpt::opengl::CBox, mrpt::opengl::CDisk, mrpt::opengl::COpenGLStandardObject, mrpt::opengl::CAssimpModel, and mrpt::opengl::C3DSScene.
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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 125 of file CGeneralizedEllipsoidTemplate.h.
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staticinherited |
This method is safe for calling from within ::render() methods.
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staticinherited |
Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)
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inlineinherited |
c | Changes the default object color |
Definition at line 125 of file CRenderizable.h.
References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, and mrpt::utils::TColorf::R.
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inlineinherited |
Set the color components of this object (R,G,B,Alpha, in the range 0-1)
Definition at line 131 of file CRenderizable.h.
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virtualinherited |
Reimplemented in mrpt::opengl::CSetOfTriangles, and mrpt::opengl::CSetOfObjects.
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inlineinherited |
Set the color components of this object (R,G,B,Alpha, in the range 0-1)
Definition at line 138 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColor_u8().
Referenced by mrpt::opengl::CRenderizable::setColor_u8().
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inlineinherited |
Set the NxN covariance matrix that will determine the aspect of the ellipsoid - Notice that the covariance determines the uncertainty in the parameter space, which would be transformed by derived function.
Definition at line 71 of file CGeneralizedEllipsoidTemplate.h.
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inlineinherited |
The line width for 2D ellipses or 3D wireframe ellipsoids (default=1)
Definition at line 114 of file CGeneralizedEllipsoidTemplate.h.
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inlineinherited |
Changes the location of the object, keeping untouched the orientation.
Definition at line 85 of file CRenderizable.h.
References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
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inlineinherited |
Changes the location of the object, keeping untouched the orientation.
Definition at line 82 of file CRenderizable.h.
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inlineinherited |
Set the number of segments of the surface/curve (higher means with greater resolution)
Definition at line 118 of file CGeneralizedEllipsoidTemplate.h.
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inherited |
Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
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inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
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inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
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inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
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inlineinherited |
Changes the scale of the "sigmas" for drawing the ellipse/ellipsoid (default=3, ~97 or ~98% CI); the exact mathematical meaning is: This value of "quantiles" q should be set to the square root of the chi-squared inverse cdf corresponding to the desired confidence interval.
Note that this value depends on the dimensionality. Refer to the MATLAB functions chi2inv() and chi2cdf().
Some common values follow here for the convenience of users:
Definition at line 109 of file CGeneralizedEllipsoidTemplate.h.
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inlineinherited |
Set object visibility (default=true)
Definition at line 67 of file CRenderizable.h.
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inlineprotectedvirtualinherited |
Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases.
Reimplemented in mrpt::opengl::CSphere.
Definition at line 56 of file CRenderizableDisplayList.h.
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staticinherited |
Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
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inlineprotectedinherited |
Definition at line 224 of file CGeneralizedEllipsoidTemplate.h.
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inlineprotectedinherited |
Definition at line 216 of file CGeneralizedEllipsoidTemplate.h.
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inlinevirtualinherited |
Ray tracing.
Reimplemented from mrpt::opengl::CRenderizable.
Definition at line 193 of file CGeneralizedEllipsoidTemplate.h.
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protectedvirtual |
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.
Implements mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >.
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inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
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protectedvirtual |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
out | The output binary stream where object must be dumped. |
getVersion | If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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protectedinherited |
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staticprotected |
Definition at line 42 of file CEllipsoidRangeBearing2D.h.
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static |
Definition at line 42 of file CEllipsoidRangeBearing2D.h.
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staticinherited |
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staticinherited |
Definition at line 46 of file CRenderizable.h.
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staticinherited |
Definition at line 38 of file CRenderizableDisplayList.h.
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staticinherited |
Definition at line 42 of file CSerializable.h.
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static |
Definition at line 42 of file CEllipsoidRangeBearing2D.h.
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protectedinherited |
Definition at line 212 of file CGeneralizedEllipsoidTemplate.h.
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mutableprotectedinherited |
Definition at line 212 of file CGeneralizedEllipsoidTemplate.h.
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protectedinherited |
Color components in the range [0,255].
Definition at line 54 of file CRenderizable.h.
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mutableprotectedinherited |
Definition at line 206 of file CGeneralizedEllipsoidTemplate.h.
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mutableprivateinherited |
Display list ID, for derived classes that want to use it (it's automatically deleted and freed on destruction of this base class).
Definition at line 41 of file CRenderizableDisplayList.h.
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mutableprivateinherited |
If using display lists, this is true when the list must be updated (the object changes, it's the first rendering, etc...).
Definition at line 42 of file CRenderizableDisplayList.h.
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protectedinherited |
The line width for 2D ellipses or 3D wireframe ellipsoids (default=1)
Definition at line 210 of file CGeneralizedEllipsoidTemplate.h.
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protectedinherited |
Definition at line 207 of file CGeneralizedEllipsoidTemplate.h.
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protectedinherited |
Definition at line 52 of file CRenderizable.h.
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mutableprotectedinherited |
Definition at line 208 of file CGeneralizedEllipsoidTemplate.h.
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protectedinherited |
Number of segments in 2D/3D ellipsoids (default=10)
Definition at line 211 of file CGeneralizedEllipsoidTemplate.h.
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protectedinherited |
6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.
Definition at line 55 of file CRenderizable.h.
Referenced by mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::render_dl().
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protectedinherited |
The number of "sigmas" for drawing the ellipse/ellipsoid (default=3)
Definition at line 209 of file CGeneralizedEllipsoidTemplate.h.
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protectedinherited |
Definition at line 56 of file CRenderizable.h.
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protectedinherited |
Definition at line 56 of file CRenderizable.h.
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protectedinherited |
Scale components to apply to the object (default=1)
Definition at line 56 of file CRenderizable.h.
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protectedinherited |
Definition at line 53 of file CRenderizable.h.
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mutableprotectedinherited |
Cholesky U triangular matrix cache. */.
Definition at line 214 of file CGeneralizedEllipsoidTemplate.h.
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protectedinherited |
Is the object visible? (default=true)
Definition at line 57 of file CRenderizable.h.
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