CovObject.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.
 *
 * Contact: info@mira-project.org
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 *   a written agreement between you and MLAB or NICR.
 *
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 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
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#ifndef _MIRA_COVOBJECT_H_
#define _MIRA_COVOBJECT_H_

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

namespace mira {


class CovObject : public MeshObject
{

public:
    CovObject(Ogre::SceneManager* sceneManager, Ogre::SceneNode* parent=NULL);

public:

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

public:


    void setMean(const Eigen::Vector2f& x);
    void setMean(const Eigen::Vector3f& x);

    void setCovariance(const Eigen::Matrix2f& cov);
    void setCovariance(const Eigen::Matrix3f& cov);

    void setCovariance(const Eigen::Vector3f& sv,
                       const Ogre::Quaternion& orientation);

    const Eigen::Vector3f& getSingularValues() { return mW; }

private:

    float mSigma;

    Eigen::Vector3f mW; // the singular values
};


}

#endif