#include <vpPlot.h>

Public Member Functions
	vpPlot ()

	vpPlot (const unsigned int nbGraph, const unsigned int height=700, const unsigned int width=700, const int x=-1, const int y=-1, const char *title=NULL)

	~vpPlot ()

void	getPixelValue (const bool block)

void	init (const unsigned int nbGraph, const unsigned int height=700, const unsigned int width=700, const int x=-1, const int y=-1, const char *title=NULL)

void	initGraph (unsigned int graphNum, unsigned int curveNbr)

void	initRange (const unsigned int graphNum, double xmin, double xmax, double ymin, double ymax)

void	initRange (const unsigned int graphNum, double xmin, double xmax, double ymin, double ymax, double zmin, double zmax)

void	navigate (void)

void	plot (const unsigned int graphNum, const unsigned int curveNum, const double x, const double y)

void	plot (const unsigned int graphNum, const double x, const vpColVector &v_y)

vpMouseButton::vpMouseButtonType	plot (const unsigned int graphNum, const unsigned int curveNum, const double x, const double y, const double z)

vpMouseButton::vpMouseButtonType	plot (const unsigned int graphNum, const double x, const vpColVector &v_y, const vpColVector &v_z)

void	resetPointList (const unsigned int graphNum)

void	resetPointList (const unsigned int graphNum, const unsigned int curveNum)

void	saveData (const unsigned int graphNum, const char *dataFile)

void	setColor (const unsigned int graphNum, const unsigned int curveNum, vpColor color)

void	setGraphThickness (const unsigned int graphNum, const unsigned int thickness)

void	setGridThickness (const unsigned int graphNum, const unsigned int thickness)

void	setFont (const char *font)

void	setLegend (const unsigned int graphNum, const unsigned int curveNum, const char *legend)

void	setTitle (const unsigned int graphNum, const char *title)

void	setUnitX (const unsigned int graphNum, const char *unitx)

void	setUnitY (const unsigned int graphNum, const char *unity)

void	setUnitZ (const unsigned int graphNum, const char *unitz)

void	setThickness (const unsigned int graphNum, const unsigned int curveNum, const unsigned int thickness)

Public Attributes
vpImage< unsigned char >	I

Detailed Description

This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window which contains between 1 and 4 graphics. Each one contains a desired number of curves.

Warning: This class is only available if one of the display functionalities (X11, GDI, GTK, OpenCV or Direct3D) is available. In visp/vpConfig.h header file, you should have VISP_HAVE_DISPLAY define.

The example below shows how to use the vpPlot class. An other example provided in tutoral-ibvs-plotter.cpp and described in Tutorial: Real-time curves plotter tool shows how to use this class to plot in real-time some curves during an image-based visual servo.

#include <visp/vpPlot.h>
int main ()
{
#if defined(VISP_HAVE_DISPLAY)
  // Create a window (700 by 700) at position (100, 200) with two graphics
  vpPlot A(2, 700, 700, 100, 200, "Curves...");
  // The first graphic contains 1 curve and the second graphic contains 2 curves
  A.initGraph(0,1);
  A.initGraph(1,2);
  // The color of the curve in the first graphic is red
  A.setColor(0,0,vpColor::red);
  // The first curve in the second graphic is green
  A.setColor(1,0,vpColor::green);
  // The second curve in the second graphic is blue
  A.setColor(1,1,vpColor::blue);
  // Add the point (0,0) in the first graphic
  A.plot(0,0,0,0);
  // Add the point (0,1) to the first curve of the second graphic
  A.plot(1,0,0,1);
  // Add the point (0,2) to the second curve of the second graphic
  A.plot(1,1,0,2);
  for (int i = 0; i < 50; i++) {
    // Add the point (i,sin(i*pi/10) in the first graphic
    A.plot(0,0,i,sin(i*M_PI/10));
    // Add the point (i,1) to the first curve of the second graphic
    A.plot(1,0,i,1);
    // Add the point (i,2) to the second curve of the second graphic
    A.plot(1,1,i,2);
  }
  return 0;
#endif
}

Examples:: plot2d.cpp, plot3d.cpp, servoMomentImage.cpp, servoPioneerPanSegment3D.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, testFeatureSegment.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 117 of file vpPlot.h.

Constructor & Destructor Documentation

vpPlot::vpPlot ( )

Default constructor.

Needs then a call to init().

Definition at line 67 of file vpPlot.cpp.

vpPlot::vpPlot	(	const unsigned int	graph_nbr,
		const unsigned int	height = `700`,
		const unsigned int	width = `700`,
		const int	x = `-1`,
		const int	y = `-1`,
		const char *	title = `NULL`
	)

This constructor creates a new window where the curves will be drawn. The number of graphics in the window must be set.

Warning: You can modify the default window size, but this is not advised.; Under Unix, when X11 is used to display the curves, the default font is set to "-adobe-times-medium-i-normal--10-100-75-75-p-52-iso8859-*". Note that you can chose an other one using "xfontsel".

Parameters

graph_nbr	: The number of graph in the window.
height	: Height of the window.
width	: Width of the window.
x,y	: The window is set at position x,y (column index, row index).
title	: Window title.

Definition at line 87 of file vpPlot.cpp.

References init().

vpPlot::~vpPlot ( )

Basic destructor

Definition at line 139 of file vpPlot.cpp.

Member Function Documentation

void vpPlot::getPixelValue ( const bool block )

This method displays the coordinates of the point pointed by the mouse pointer.

Parameters

block : If true, this method waits a click.

Definition at line 406 of file vpPlot.cpp.

References vpDisplay::getClick(), vpDisplay::getPointerPosition(), and I.

void vpPlot::init	(	const unsigned int	graph_nbr,
		const unsigned int	height = `700`,
		const unsigned int	width = `700`,
		const int	x = `-1`,
		const int	y = `-1`,
		const char *	title = `NULL`
	)

Creates a new window where the curves will be drawn. The number of graphics in the window must be set.

Warning: You can modify the default window size, but this is not advised.

Parameters

graph_nbr	: The number of graph in the window.
height	: Height of the window.
width	: Width of the window.
x,y	: The window is set at position x,y (column index, row index).
title	: Window title.

Examples:: servoMomentImage.cpp.

Definition at line 108 of file vpPlot.cpp.

References vpDisplay::display(), I, vpImage< Type >::init(), and vpDisplay::init().

Referenced by vpPlot().

void vpPlot::initGraph	(	unsigned int	graphNum,
		unsigned int	curveNbr
	)

Function which enables to initialize the number of curves which belongs to a graphic.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
curveNbr	: The number of curves belonging to the graphic

Examples:: plot2d.cpp, plot3d.cpp, servoMomentImage.cpp, servoPioneerPanSegment3D.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, testFeatureSegment.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 208 of file vpPlot.cpp.

void vpPlot::initRange	(	const unsigned int	graphNum,
		double	xmin,
		double	xmax,
		double	ymin,
		double	ymax
	)

This method enables to set the initial range of the selected graphic.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
xmin	: The initial minimum value along the x axis given in the user coordinates.
xmax	: The initial maximum value along the x axis given in the user coordinates.
ymin	: The initial minimum value along the y axis given in the user coordinates.
ymax	: The initial maximum value along the y axis given in the user coordinates.

Examples:: servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, and servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp.

Definition at line 233 of file vpPlot.cpp.

References I.

void vpPlot::initRange	(	const unsigned int	graphNum,
		double	xmin,
		double	xmax,
		double	ymin,
		double	ymax,
		double	zmin,
		double	zmax
	)

This method enables to set the initial range of the selected graphic.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
xmin	: The initial minimum value along the x axis given in the user coordinates.
xmax	: The initial maximum value along the x axis given in the user coordinates.
ymin	: The initial minimum value along the y axis given in the user coordinates.
ymax	: The initial maximum value along the y axis given in the user coordinates.
zmin	: The initial minimum value along the z axis given in the user coordinates.
zmax	: The initial maximum value along the z axis given in the user coordinates.

Definition at line 252 of file vpPlot.cpp.

References I.

void vpPlot::navigate ( void )

This method allows to change the point of view with the mouse if you have a 3D graphic. The navigation is performed using the mouse.

A click on left mouse button allows rotations
A click on middle mouse button allows zoom
A click on rigt mouse button quit the infinite navigation loop.

Definition at line 361 of file vpPlot.cpp.

References vpMouseButton::button3, vpDisplay::getPointerPosition(), I, vpImagePoint::inRectangle(), vpMouseButton::none, and vpTime::sleepMs().

void vpPlot::plot	(	const unsigned int	graphNum,
		const unsigned int	curveNum,
		const double	x,
		const double	y
	)

This function enables you to add a new point in the curve. This point is drawn with the parameters of the curve.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
curveNum	: The index of the curve in the list of the curves belonging to the graphic.
x	: The coordinate of the new point along the x axis and given in the user unit system.
y	: The coordinate of the new point along the y axis and given in the user unit system.

Examples:: plot2d.cpp, plot3d.cpp, servoMomentImage.cpp, servoPioneerPanSegment3D.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, testFeatureSegment.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 291 of file vpPlot.cpp.

References I.

Referenced by plot().

void vpPlot::plot	(	const unsigned int	graphNum,
		const double	x,
		const vpColVector &	v_y
	)

This function enables you to add new points in all curves of a plot. These points are drawn with the parameters of the curves.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
x	: The coordinate of the new points along the x axis and given in the user unit system.
v_y	: y coordinates vector. The coordinates of the new points along the y axis and given in the user unit system.

Definition at line 303 of file vpPlot.cpp.

References vpMatrix::getRows(), plot(), and vpTRACE.

vpMouseButton::vpMouseButtonType vpPlot::plot	(	const unsigned int	graphNum,
		const unsigned int	curveNum,
		const double	x,
		const double	y,
		const double	z
	)

This function enables you to add a new point in the curve. This point is drawn with the parameters of the curve.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
curveNum	: The index of the curve in the list of the curves belonging to the graphic.
x	: The coordinate of the new point along the x axis and given in the user unit system.
y	: The coordinate of the new point along the y axis and given in the user unit system.
z	: The coordinate of the new point along the z axis and given in the user unit system.

Definition at line 326 of file vpPlot.cpp.

References I.

vpMouseButton::vpMouseButtonType vpPlot::plot	(	const unsigned int	graphNum,
		const double	x,
		const vpColVector &	v_y,
		const vpColVector &	v_z
	)

This function enables you to add new points in all curves of a plot. These points are drawn with the parameters of the curves.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
x	: The coordinate of the new points along the x axis and given in the user unit system.
v_y	: y coordinates vector. The coordinates of the new points along the y axis and given in the user unit system.
v_z	: z coordinates vector. The coordinates of the new points along the z axis and given in the user unit system.

Definition at line 340 of file vpPlot.cpp.

References vpMatrix::getRows(), vpMouseButton::none, plot(), and vpTRACE.

void vpPlot::resetPointList ( const unsigned int graphNum )

This method enables to erase the list of points stored for the graphic number $ graphNum $ .

Parameters

graphNum : The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.

Definition at line 488 of file vpPlot.cpp.

Referenced by resetPointList().

void vpPlot::resetPointList	(	const unsigned int	graphNum,
		const unsigned int	curveNum
	)

This method enables to erase the list of points stored for the curve number $ curveNum $ contained in the graphic number $ graphNum $ .

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
curveNum	: The index of the curve in the list of the curves belonging to the graphic.

Definition at line 539 of file vpPlot.cpp.

References resetPointList().

void vpPlot::saveData	(	const unsigned int	graphNum,
		const char *	dataFile
	)

This function enables to save in a text file all the plotted points of a graphic.

The first line of the text file is the graphic title. Then the points coordinates are given. If the graphic has to curves:

the first column corresponds to the x axis of the first curve
the second column corresponds to the y axis of the first curve
the third column corresponds to the z axis of the first curve
the fourth column corresponds to the x axis of the second curve
the fifth column corresponds to the y axis of the second curve
the sixth column corresponds to the z axis of the second curve

The column are delimited thanks to tabultaions.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
dataFile	: Name of the text file.

Examples:: plot2d.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 560 of file vpPlot.cpp.

void vpPlot::setColor	(	const unsigned int	graphNum,
		const unsigned int	curveNum,
		vpColor	color
	)

This function enables you to choose the color used to draw a given curve.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
curveNum	: The index of the curve in the list of the curves belonging to the graphic.
color	: The color you want to use

Examples:: plot2d.cpp, plot3d.cpp, servoMomentImage.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, and servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp.

Definition at line 267 of file vpPlot.cpp.

void vpPlot::setFont ( const char * font )

inline

Set the font of the characters. The display should be initialized before.

To know which font are available, on Unix you can use xfontsel or xlsfonts utilities.

Definition at line 169 of file vpPlot.h.

References vpDisplay::isInitialised(), and vpDisplay::setFont().

void vpPlot::setGraphThickness	(	const unsigned int	graphNum,
		const unsigned int	thickness
	)

This function enables you to choose the thickness used to draw all the curves belonging to a given graphic.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
thickness	: The thickness you want to use

Definition at line 514 of file vpPlot.cpp.

void vpPlot::setGridThickness	(	const unsigned int	graphNum,
		const unsigned int	thickness
	)

This function enables you to choose the thickness used to draw the grid and the axis of a given graphic.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
thickness	: The thickness you want to use

Definition at line 527 of file vpPlot.cpp.

void vpPlot::setLegend	(	const unsigned int	graphNum,
		const unsigned int	curveNum,
		const char *	legend
	)

Sets the legend of a curve.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
curveNum	: The index of the curve in the list of the curves belonging to the graphic.
legend	: The legend of the curve.

Examples:: plot2d.cpp, plot3d.cpp, servoMomentImage.cpp, servoPioneerPanSegment3D.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 477 of file vpPlot.cpp.

void vpPlot::setThickness	(	const unsigned int	graphNum,
		const unsigned int	curveNum,
		const unsigned int	thickness
	)

This function enables you to choose the thickness used to draw a given curve.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
curveNum	: The index of the curve in the list of the curves belonging to the graphic.
thickness	: The thickness you want to use

Definition at line 502 of file vpPlot.cpp.

void vpPlot::setTitle	(	const unsigned int	graphNum,
		const char *	title
	)

Sets the title of a graphic.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
title	: The graphic title.

Examples:: plot2d.cpp, plot3d.cpp, servoMomentImage.cpp, servoPioneerPanSegment3D.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 428 of file vpPlot.cpp.

void vpPlot::setUnitX	(	const unsigned int	graphNum,
		const char *	unitx
	)

Sets the unit system of the x axis.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
unitx	: The name of the unit of the x axis.

Examples:: plot2d.cpp, and plot3d.cpp.

Definition at line 440 of file vpPlot.cpp.

void vpPlot::setUnitY	(	const unsigned int	graphNum,
		const char *	unity
	)

Sets the unit system of the y axis.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
unity	: The name of the unit of the y axis.

Examples:: plot2d.cpp, and plot3d.cpp.

Definition at line 452 of file vpPlot.cpp.

void vpPlot::setUnitZ	(	const unsigned int	graphNum,
		const char *	unitz
	)

Sets the unit system of the z axis.

Parameters

graphNum	: The index of the graph in the window. As the number of graphic in a window is less or equal to 4, this parameter is between 0 and 3.
unitz	: The name of the unit of the z axis.

Examples:: plot3d.cpp.

Definition at line 464 of file vpPlot.cpp.

Member Data Documentation

vpImage<unsigned char> vpPlot::I

Examples:: plot2d.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 120 of file vpPlot.h.

Referenced by getPixelValue(), init(), initRange(), navigate(), and plot().

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation