Visual Servoing Platform  version 3.6.1 under development (2024-03-29)
qp_plot.h
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30  *
31  * Description:
32  * Example of sequential calls to QP solver
33  *
34 *****************************************************************************/
41 #include <visp3/core/vpConfig.h>
42 #include <visp3/core/vpTime.h>
43 #include <visp3/gui/vpPlot.h>
44 
45 #ifndef DOXYGEN_SHOULD_SKIP_THIS
46 vpMatrix randM(int n, int m)
47 {
48  vpMatrix M(n, m);
49  for (int i = 0; i < n; ++i)
50  for (int j = 0; j < m; ++j)
51  M[i][j] = (2. * rand()) / RAND_MAX - 1;
52  return M;
53 }
54 
55 vpColVector randV(int n)
56 {
57  vpColVector M(n);
58  for (int i = 0; i < n; ++i)
59  M[i] = (2. * rand()) / RAND_MAX - 1;
60  return M;
61 }
62 
63 #ifdef VISP_HAVE_DISPLAY
64 class QPlot
65 {
66 public:
67  virtual ~QPlot() { delete P; }
68  QPlot(int graphNum, int total, std::vector<std::string> legend)
69  {
70  P = new vpPlot(graphNum, 700, 700, 100, 200, "Resolution time");
71 
72  for (int i = 0; i < graphNum; ++i) {
73  P->initGraph(i, 2);
74  P->setColor(i, 0, vpColor::red);
75  P->setColor(i, 1, vpColor::blue);
76  P->setGraphThickness(i, 2);
77  P->initRange(i, 0, total, 0, 0.1);
78  P->setUnitY(i, "ms");
79  P->setTitle(i, legend[2 * i]);
80  P->setLegend(i, 0, "without " + legend[2 * i + 1]);
81  P->setLegend(i, 1, legend[2 * i + 1]);
82  }
83  }
84 
85  void plot(int g, int c, int i, double t) { P->plot(g, c, i, vpTime::measureTimeMs() - t); }
86 
87  void wait() { P->I.display->getClick(); }
88  vpPlot *P;
89 
90 private:
91  // Copy constructor not allowed.
92  QPlot(const QPlot &qplot);
93 };
94 #else
95 class VISP_EXPORT QPPlot
96 {
97 public:
98  QPPlot(int, int, std::vector<std::string>) { }
99  void plot(int, int, int, double) { }
100  void wait() { }
101 };
102 #endif
103 #endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
static const vpColor red
Definition: vpColor.h:211
static const vpColor blue
Definition: vpColor.h:217
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
Definition: vpPlot.h:109
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()