Visual Servoing Platform
version 3.5.1 under development (2023-09-22)
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#include <visp3/gui/vpPlot.h>
Public Member Functions | |
vpPlot () | |
vpPlot (unsigned int nbGraph, unsigned int height=700, unsigned int width=700, int x=-1, int y=-1, const std::string &title="") | |
virtual | ~vpPlot () |
void | getPixelValue (bool block) |
void | init (unsigned int nbGraph, unsigned int height=700, unsigned int width=700, int x=-1, int y=-1, const std::string &title="") |
void | initGraph (unsigned int graphNum, unsigned int curveNbr) |
void | initRange (unsigned int graphNum, double xmin, double xmax, double ymin, double ymax) |
void | initRange (unsigned int graphNum, double xmin, double xmax, double ymin, double ymax, double zmin, double zmax) |
void | navigate (void) |
void | plot (unsigned int graphNum, unsigned int curveNum, double x, double y) |
void | plot (unsigned int graphNum, double x, const vpColVector &v_y) |
void | plot (unsigned int graphNum, double x, const vpRowVector &v_y) |
void | plot (unsigned int graphNum, double x, const vpPoseVector &v_y) |
void | plot (unsigned int graphNum, double x, const vpTranslationVector &v_y) |
void | plot (unsigned int graphNum, double x, const vpRotationVector &v_y) |
vpMouseButton::vpMouseButtonType | plot (unsigned int graphNum, unsigned int curveNum, double x, double y, double z) |
vpMouseButton::vpMouseButtonType | plot (unsigned int graphNum, double x, const vpColVector &v_y, const vpColVector &v_z) |
void | resetPointList (unsigned int graphNum) |
void | resetPointList (unsigned int graphNum, unsigned int curveNum) |
void | saveData (unsigned int graphNum, const std::string &dataFile, const std::string &title_prefix="") |
void | setColor (unsigned int graphNum, unsigned int curveNum, vpColor color) |
void | setGraphThickness (unsigned int graphNum, unsigned int thickness) |
void | setGridThickness (unsigned int graphNum, unsigned int thickness) |
void | setFont (const std::string &font) |
void | setLegend (unsigned int graphNum, unsigned int curveNum, const std::string &legend) |
void | setTitle (unsigned int graphNum, const std::string &title) |
void | setUnitX (unsigned int graphNum, const std::string &unitx) |
void | setUnitY (unsigned int graphNum, const std::string &unity) |
void | setUnitZ (unsigned int graphNum, const std::string &unitz) |
void | setThickness (unsigned int graphNum, unsigned int curveNum, unsigned int thickness) |
Public Attributes | |
vpImage< unsigned char > | I |
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.
The example below shows how to use the vpPlot class. An other example provided in tutorial-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.
vpPlot::vpPlot | ( | ) |
vpPlot::vpPlot | ( | unsigned int | graph_nbr, |
unsigned int | height = 700 , |
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unsigned int | width = 700 , |
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int | x = -1 , |
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int | y = -1 , |
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const std::string & | title = "" |
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) |
This constructor creates a new window where the curves will be drawn. The number of graphics in the window must be set.
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 77 of file vpPlot.cpp.
References init().
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virtual |
Basic destructor
Definition at line 125 of file vpPlot.cpp.
void vpPlot::getPixelValue | ( | bool | block | ) |
This method displays the coordinates of the point pointed by the mouse pointer.
block | : If true, this method waits a click. |
Definition at line 480 of file vpPlot.cpp.
References vpDisplay::getClick(), vpDisplay::getPointerPosition(), and I.
void vpPlot::init | ( | unsigned int | graph_nbr, |
unsigned int | height = 700 , |
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unsigned int | width = 700 , |
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int | x = -1 , |
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int | y = -1 , |
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const std::string & | title = "" |
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) |
Creates a new window where the curves will be drawn. The number of graphics in the window must be set.
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 95 of file vpPlot.cpp.
References vpDisplay::display(), I, and vpImage< Type >::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.
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 |
Definition at line 202 of file vpPlot.cpp.
void vpPlot::initRange | ( | unsigned int | graphNum, |
double | xmin, | ||
double | xmax, | ||
double | ymin, | ||
double | ymax | ||
) |
This method enables to set the initial range of the selected graphic.
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. |
Definition at line 214 of file vpPlot.cpp.
References I.
void vpPlot::initRange | ( | 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.
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 231 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.
Definition at line 442 of file vpPlot.cpp.
References vpMouseButton::button3, vpDisplay::getPointerPosition(), I, vpImagePoint::inRectangle(), vpMouseButton::none, and vpTime::sleepMs().
void vpPlot::plot | ( | unsigned int | graphNum, |
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.
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 285 of file vpPlot.cpp.
References vpArray2D< Type >::getRows(), plot(), and vpTRACE.
vpMouseButton::vpMouseButtonType vpPlot::plot | ( | unsigned int | graphNum, |
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.
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 422 of file vpPlot.cpp.
References vpArray2D< Type >::getRows(), vpMouseButton::none, plot(), and vpTRACE.
void vpPlot::plot | ( | unsigned int | graphNum, |
double | x, | ||
const vpPoseVector & | 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.
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 329 of file vpPlot.cpp.
References vpArray2D< Type >::getRows(), plot(), and vpTRACE.
void vpPlot::plot | ( | unsigned int | graphNum, |
double | x, | ||
const vpRotationVector & | 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.
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 374 of file vpPlot.cpp.
References plot(), vpArray2D< Type >::size(), and vpTRACE.
void vpPlot::plot | ( | unsigned int | graphNum, |
double | x, | ||
const vpRowVector & | 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.
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 306 of file vpPlot.cpp.
References vpArray2D< Type >::getRows(), plot(), and vpTRACE.
void vpPlot::plot | ( | unsigned int | graphNum, |
double | x, | ||
const vpTranslationVector & | 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.
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 351 of file vpPlot.cpp.
References vpArray2D< Type >::getRows(), plot(), and vpTRACE.
void vpPlot::plot | ( | unsigned int | graphNum, |
unsigned int | curveNum, | ||
double | x, | ||
double | y | ||
) |
This function enables you to add a new point in the curve. This point is drawn with the parameters of the curve.
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. |
Definition at line 269 of file vpPlot.cpp.
References I.
Referenced by plot().
vpMouseButton::vpMouseButtonType vpPlot::plot | ( | unsigned int | graphNum, |
unsigned int | curveNum, | ||
double | x, | ||
double | y, | ||
double | z | ||
) |
This function enables you to add a new point in the curve. This point is drawn with the parameters of the curve.
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 401 of file vpPlot.cpp.
References I.
void vpPlot::resetPointList | ( | unsigned int | graphNum | ) |
This method enables to erase the list of points stored for the graphic number .
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 558 of file vpPlot.cpp.
Referenced by resetPointList().
void vpPlot::resetPointList | ( | unsigned int | graphNum, |
unsigned int | curveNum | ||
) |
This method enables to erase the list of points stored for the curve number contained in the graphic number .
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 616 of file vpPlot.cpp.
References resetPointList().
void vpPlot::saveData | ( | unsigned int | graphNum, |
const std::string & | dataFile, | ||
const std::string & | title_prefix = "" |
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) |
This function enables to save in a text file all the plotted points of a graphic.
The content of the file is the following:
The columns are delimited thanks to tabulations.
title_prefix | : Prefix introduced in the first line of the saved file. To exploit a posteriori the resulting curves:
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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. |
Definition at line 648 of file vpPlot.cpp.
void vpPlot::setColor | ( | unsigned int | graphNum, |
unsigned int | curveNum, | ||
vpColor | color | ||
) |
This function enables you to choose the color used to draw a given curve.
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 |
Definition at line 245 of file vpPlot.cpp.
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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 182 of file vpPlot.h.
References vpDisplay::setFont().
void vpPlot::setGraphThickness | ( | unsigned int | graphNum, |
unsigned int | thickness | ||
) |
This function enables you to choose the thickness used to draw all the curves belonging to a given graphic.
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 586 of file vpPlot.cpp.
void vpPlot::setGridThickness | ( | unsigned int | graphNum, |
unsigned int | thickness | ||
) |
This function enables you to choose the thickness used to draw the grid and the axis of a given graphic.
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 601 of file vpPlot.cpp.
void vpPlot::setLegend | ( | unsigned int | graphNum, |
unsigned int | curveNum, | ||
const std::string & | legend | ||
) |
Sets the legend of a curve.
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. |
Definition at line 545 of file vpPlot.cpp.
void vpPlot::setThickness | ( | unsigned int | graphNum, |
unsigned int | curveNum, | ||
unsigned int | thickness | ||
) |
This function enables you to choose the thickness used to draw a given curve.
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 573 of file vpPlot.cpp.
void vpPlot::setTitle | ( | unsigned int | graphNum, |
const std::string & | title | ||
) |
Sets the title of a graphic.
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. |
Definition at line 503 of file vpPlot.cpp.
void vpPlot::setUnitX | ( | unsigned int | graphNum, |
const std::string & | unitx | ||
) |
Sets the unit system of the x axis.
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. |
Definition at line 513 of file vpPlot.cpp.
void vpPlot::setUnitY | ( | unsigned int | graphNum, |
const std::string & | unity | ||
) |
Sets the unit system of the y axis.
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. |
Definition at line 523 of file vpPlot.cpp.
void vpPlot::setUnitZ | ( | unsigned int | graphNum, |
const std::string & | unitz | ||
) |
Sets the unit system of the z axis.
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. |
Definition at line 533 of file vpPlot.cpp.
vpImage<unsigned char> vpPlot::I |
Definition at line 115 of file vpPlot.h.
Referenced by getPixelValue(), init(), initRange(), navigate(), and plot().