Grid.h

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#pragma once
 
#include <functional>
#include <optional>
 
#include <Eigen/Core>
 
#include <SimoxUtility/color/Color.h>
#include <SimoxUtility/color/ColorMap.h>
#include <SimoxUtility/color/cmaps/colormaps.h>
 
#include <RobotAPI/interface/ArViz/Elements.h>
 
#include "ElementOps.h"
 
namespace armarx::viz
{
 
    class Grid : public ElementOps<Grid, data::ElementGrid>
    {
    public:
        using ElementOps::ElementOps;
 
        using MaskT = Eigen::Matrix<bool, Eigen::Dynamic, Eigen::Dynamic>;
        using GridT = Eigen::MatrixXf;
 
        using ColorFuncT = std::function<simox::Color(float v)>;
 
        Grid& grid(const GridT& grd, const std::optional<MaskT>& mask, const ColorFuncT& colorFunc);
 
        Grid& grid(const GridT& grd,
                   const std::optional<MaskT>& mask,
                   const simox::color::ColorMap& cmap = simox::color::cmaps::viridis(),
                   const std::optional<float>& vmin = std::nullopt,
                   const std::optional<float>& vmax = std::nullopt);
 
        Grid& origin(const Eigen::Isometry3f& origin);
 
        Grid& resolution(float res);
    };
 
 
} // namespace armarx::viz