Ellipsoid.h

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#pragma once
 
#include <mc_rtc/gui/Visual.h>
#include <mc_rtc/visual_utils.h>
 
namespace mc_rtc::gui
{
 
template<typename GetPos, typename GetSize = const Eigen::Vector3d &, typename GetColor = const mc_rtc::gui::Color &>
auto Ellipsoid(const std::string & name,
               GetSize size_fn,
               GetPos get_pos_fn,
               GetColor color_fn = mc_rtc::gui::Color::Red)
{
  auto ellipsoid = mc_rtc::makeVisualSuperellispoid(details::GetValueOrCallbackValue(size_fn), 1.0, 1.0,
                                                    details::GetValueOrCallbackValue(color_fn));
  auto get_visual_fn = [=]() mutable -> const rbd::parsers::Visual &
  {
    if constexpr(std::is_invocable_v<GetSize>) { mc_rtc::getVisualSuperellipsoid(ellipsoid).size = size_fn(); }
    if constexpr(std::is_invocable_v<GetColor>) { mc_rtc::details::setVisualColor(ellipsoid, color_fn()); }
    return ellipsoid;
  };
  return Visual(name, get_visual_fn, get_pos_fn);
}
 
} // namespace mc_rtc::gui