AxesCovObject.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
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 * Contact: info@mira-project.org
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#ifndef _MIRA_AXESCOVOBJECT_H_
#define _MIRA_AXESCOVOBJECT_H_

#include <visualization/3d/MeshObject.h>
#include <visualization/3d/AxesObject.h>

namespace mira {


class AxesCovObject
{

public:
    AxesCovObject(Ogre::SceneManager* sceneManager, AxesObject* axesObject);

public:

    void setVisible(bool visible);
    bool isVisible() const { return mVisible; }

    void setSigma(float sigma);
    float getSigma() const {return mSigma;}

    AxesObject* axesObject() { return mAxesObject; }
    const AxesObject* axesObject() const { return mAxesObject; }

public:

    void setCovariance(float var);

    void setCovariance(const Eigen::Matrix3f& cov);

protected:

    AxesObject* mAxesObject;

    bool mVisible;
    float mSigma;

    boost::shared_ptr<MeshObject> mCovRotX;
    boost::shared_ptr<MeshObject> mCovRotY;
    boost::shared_ptr<MeshObject> mCovRotZ;
};


}

#endif