[ playerstage-Patches-3055958 ] Adds uncertrainty ellipsis for localization to utils

Patches item #3055958, was opened at 2010-08-30 12:37
Message generated for change (Tracker Item Submitted) made by torian
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Category: Player
Group: None
Status: Open
Resolution: None
Priority: 5
Private: No
Submitted By: Thimo Langbehn (torian)
Assigned to: Brian Gerkey (gerkey)
Summary: Adds uncertrainty ellipsis for localization to utils

Initial Comment:
This patchset extends the playerv and playernav utilities with an 
option to draw an uncertainty ellipsis for localization interfaces
(visualizes the position-part of the covariance matrix).
The common function is added in form of a supporting utility library.

Rationale
---------
Playerv and playernav both are extended with the same functionality.
This functionality could be added to both of them, to en existing 
library or to a new one.

Adding the code to both of them is easy, however it makes maintenance
or extensions harder.
The sensible options for existing libraries are: 
playercore, playercommon, playerinterface and libplayerc .
However since the function is not a part of any interface, this rules
out libplayercore, libplayerinterface and libplayerc.
playercommon was not usable since it is used by libplayerinterface
and libplayercore, and the function requires libplayerinterface, 
resulting in a circular dependency.

Therefore, a new library was created that must not be used by any
of the core parts of player, but only by utilities build on top of
player / playerinterfaces.

Patches (trunk >=rev.8859)
--------------------------
libplayerutil [CMakeLists.txt  localization.c  localization.h]
	This directory contains the source files and build instructions
	for a new utility support library. This library currently contains
	only the derivation function for the uncertainty ellipsis.
	The directory should be copied into the root directory of the
	player source.

uncertainty_ellipsis_calculation.patch
	Enables the new libplayerutil library and adds it to player.

playernav_uncertainty-ellipsis.patch
	Adds support for drawing an uncertainty ellipsis to playernav.
	The uncertainty ellipsis can be toggled, like the particles.
	This requires the libplayerutil library (dir+patch).
	
playerv_unvertainty-ellipsis.patch
	Adds support for drawing an uncertainty ellipsis to playerv.
	This requires the libplayerutil library (dir+patch).

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