Visual Servoing Platform  version 3.2.0 under development (2018-12-12)
plot3d.cpp

Plot 3D curves example.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Example which describes how to use the vpPlot class
*
* Author:
* Nicolas Melchior
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpConfig.h>
#include <visp3/gui/vpPlot.h>
int main()
{
#if defined(VISP_HAVE_DISPLAY)
try {
// Create a window with one graphic
vpPlot plot(1);
// Change the default font
// plot.setFont("-misc-fixed-bold-r-semicondensed--0-0-75-75-c-0-iso8859-10");
// The graphic contains 2 curves
plot.initGraph(0, 2);
// Set the graphic parameters
plot.setTitle(0, "First graphic");
plot.setUnitX(0, "time (s)");
plot.setUnitY(0, "y");
plot.setUnitZ(0, "z");
plot.setLegend(0, 0, "y^2+z^2=1 and y(0) = 1");
plot.setLegend(0, 1, "y^2+z^2=1 and y(0) = -1");
plot.setColor(0, 0, vpColor::red);
plot.setColor(0, 1, vpColor::green);
double x = 0;
double y = 1;
double z = 0;
double dx = 0.08;
double dy = 0.04;
double zsign = 1.0;
unsigned long iter = 0;
std::cout << "Hit CTRL-C to or right mouse button to exit..." << std::endl;
bool end = false;
while (!end) {
if (iter < 300) {
// y*y+z*z = 1
if (fabs(y) < 1.0)
z = sqrt(1.0 - y * y);
else
z = 0;
// Add points to the graphic
if (plot.plot(0, 0, x, y, z * zsign) == vpMouseButton::button3)
end = true;
if (plot.plot(0, 1, x, -y, -z * zsign) == vpMouseButton::button3)
end = true;
x += dx;
if (fabs(y) >= 1.0)
dy = -dy;
y += dy;
if (fabs(y) >= 1.0)
zsign = -zsign;
} else {
// Tip: to allows modifying the point of view with the mouse we
// plot always the last point
if (plot.plot(0, 0, x, y, z * zsign) == vpMouseButton::button3)
end = true;
if (plot.plot(0, 1, x, -y, -z * zsign) == vpMouseButton::button3)
end = true;
}
iter++;
}
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
#else
std::cout << "Plot functionalities are not avalaible since no display is "
"available."
<< std::endl;
return EXIT_SUCCESS;
#endif
}