Visual Servoing Platform  version 3.3.1 under development (2020-07-09)
qp_plot.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Example of sequential calls to QP solver
33  *
34  * Authors:
35  * Olivier Kermorgant
36  *
37  *****************************************************************************/
44 #include <visp3/core/vpConfig.h>
45 #include <visp3/core/vpTime.h>
46 #include <visp3/gui/vpPlot.h>
47 
48 #ifndef DOXYGEN_SHOULD_SKIP_THIS
49 vpMatrix randM(int n, int m)
50 {
51  vpMatrix M(n,m);
52  for(int i = 0; i < n; ++i)
53  for(int j = 0; j < m; ++j)
54  M[i][j] = (2.*rand())/RAND_MAX -1;
55  return M;
56 }
57 
58 vpColVector randV(int n)
59 {
60  vpColVector M(n);
61  for(int i = 0; i < n; ++i)
62  M[i] = (2.*rand())/RAND_MAX -1;
63  return M;
64 }
65 
66 #ifdef VISP_HAVE_DISPLAY
67 class QPlot
68 {
69 public:
70  virtual ~QPlot() { delete P; }
71  QPlot(int graphNum, int total, std::vector<std::string> legend)
72  {
73  P = new vpPlot(graphNum, 700, 700, 100, 200, "Resolution time");
74 
75  for(int i = 0; i < graphNum; ++i)
76  {
77  P->initGraph(i,2);
78  P->setColor(i,0,vpColor::red);
79  P->setColor(i,1,vpColor::blue);
80  P->setGraphThickness(i,2);
81  P->initRange(i, 0, total, 0, 0.1);
82  P->setUnitY(i,"ms");
83  P->setTitle(i, legend[2*i]);
84  P->setLegend(i, 0, "without " + legend[2*i+1]);
85  P->setLegend(i, 1, legend[2*i+1]);
86  }
87  }
88 
89  void plot(int g, int c, int i, double t)
90  {
91  P->plot(g,c,i,vpTime::measureTimeMs() - t);
92  }
93 
94  void wait()
95  {
96  P->I.display->getClick();
97  }
98  vpPlot* P;
99 
100 private:
101  // Copy constructor not allowed.
102  QPlot(const QPlot &qplot);
103 };
104 #else
105 class VISP_EXPORT QPPlot
106 {
107 public:
108  QPPlot(int, int , std::vector<std::string> ) {}
109  void plot(int , int , int , double ) {}
110  void wait() {}
111 };
112 #endif
113 #endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:156
VISP_EXPORT int wait(double t0, double t)
Definition: vpTime.cpp:173
VISP_EXPORT double measureTimeMs()
Definition: vpTime.cpp:126
static const vpColor red
Definition: vpColor.h:217
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
Definition: vpPlot.h:115
static const vpColor blue
Definition: vpColor.h:223