Detailed Description

A 2D ellipse, described by a 2x2 covariance matrix.

The relation between the multivariate Gaussian confidence interval and the "quantiles" in this class is:

1 : 68.27% confidence interval
2 : 95.45%
3 : 99.73%
4 : 99.994% For example, see http://en.wikipedia.org/wiki/Normal_distribution#Standard_deviation_and_confidence_intervals

The ellipse will be always centered at the origin. Use mpMovableObject::SetCoordinateBase to move it.

#include <mrpt/otherlibs/mathplot/mathplot.h>

Inheritance diagram for mpCovarianceEllipse:

[legend]

List of all members.

Public Member Functions
	mpCovarianceEllipse (double cov_00=1, double cov_11=1, double cov_01=0, double quantiles=2, int segments=32, const wxString &layerName=wxT(""))
	Default constructor.
virtual	~mpCovarianceEllipse ()
double	GetQuantiles () const
void	SetQuantiles (double q)
	Set how many "quantiles" to draw, that is, the confidence interval of the ellipse (see above).
void	SetSegments (int segments)
int	GetSegments () const
void	GetCovarianceMatrix (double &cov_00, double &cov_01, double &cov_11) const
	Returns the elements of the current covariance matrix:
void	SetCovarianceMatrix (double cov_00, double cov_01, double cov_11)
	Changes the covariance matrix:
void	GetCoordinateBase (double &x, double &y, double &phi) const
	Get the current coordinate transformation.
void	SetCoordinateBase (double x, double y, double phi=0)
	Set the coordinate transformation (phi in radians, 0 means no rotation).
virtual bool	HasBBox ()
	Check whether this layer has a bounding box.
virtual double	GetMinX ()
	Get inclusive left border of bounding box.
virtual double	GetMaxX ()
	Get inclusive right border of bounding box.
virtual double	GetMinY ()
	Get inclusive bottom border of bounding box.
virtual double	GetMaxY ()
	Get inclusive top border of bounding box.
virtual void	Plot (wxDC &dc, mpWindow &w)
	Plot given view of layer to the given device context.
void	SetAlign (int align)
	Set label axis alignment.
virtual bool	IsInfo ()
	Check whether the layer is an info box.
wxString	GetName () const
	Get layer name.
const wxFont &	GetFont () const
	Get font set for this layer.
const wxPen &	GetPen () const
	Get pen set for this layer.
void	SetContinuity (bool continuity)
	Set the 'continuity' property of the layer (true:draws a continuous line, false:draws separate points).
bool	GetContinuity () const
	Gets the 'continuity' property of the layer.
void	ShowName (bool show)
	Shows or hides the text label with the name of the layer (default is visible).
void	SetName (wxString name)
	Set layer name.
void	SetFont (wxFont &font)
	Set layer font.
void	SetPen (wxPen pen)
	Set layer pen.
void	SetDrawOutsideMargins (bool drawModeOutside)
	Set Draw mode: inside or outside margins.
bool	GetDrawOutsideMargins ()
	Get Draw mode: inside or outside margins.
wxBitmap	GetColourSquare (int side=16)
	Get a small square bitmap filled with the colour of the pen used in the layer.
mpLayerType	GetLayerType ()
	Get layer type: a Layer can be of different types: plot lines, axis, info boxes, etc, this method returns the right value.
bool	IsVisible ()
	Checks whether the layer is visible or not.
void	SetVisible (bool show)
	Sets layer visibility.
const wxBrush &	GetBrush () const
	Get brush set for this layer.
void	SetBrush (wxBrush brush)
	Set layer brush.
Protected Member Functions
void	RecalculateShape ()
	Called to update the m_shape_xs, m_shape_ys vectors, whenever a parameter changes.
void	TranslatePoint (double x, double y, double &out_x, double &out_y)
	A method for 2D translation and rotation, using the current transformation stored in m_reference_x,m_reference_y,m_reference_phi.
void	ShapeUpdated ()
	Must be called by the descendent class after updating the shape (m_shape_xs/ys), or when the transformation changes.
Protected Attributes
double	m_cov_00
	The elements of the matrix (only 3 since cov(0,1)=cov(1,0) in any positive definite matrix).
double	m_cov_11
double	m_cov_01
double	m_quantiles
int	m_segments
	The number of line segments that build up the ellipse.
int	m_flags
	Holds label alignment.
double	m_reference_x
	The coordinates of the object (orientation "phi" is in radians).
double	m_reference_y
double	m_reference_phi
std::vector< double >	m_shape_xs
	This contains the object points, in local coordinates (to be transformed by the current transformation).
std::vector< double >	m_shape_ys
std::vector< double >	m_trans_shape_xs
	The buffer for the translated & rotated points (to avoid recomputing them with each mpWindow refresh).
std::vector< double >	m_trans_shape_ys
double	m_bbox_min_x
	The precomputed bounding box:
double	m_bbox_max_x
double	m_bbox_min_y
double	m_bbox_max_y
wxFont	m_font
	Layer's font.
wxPen	m_pen
	Layer's pen.
wxBrush	m_brush
	Layer's brush.
wxString	m_name
	Layer's name.
bool	m_continuous
	Specify if the layer will be plotted as a continuous line or a set of points.
bool	m_showName
	States whether the name of the layer must be shown (default is true).
bool	m_drawOutsideMargins
	select if the layer should draw only inside margins or over all DC
mpLayerType	m_type
	Define layer type, which is assigned by constructor.
bool	m_visible
	Toggles layer visibility.

Constructor & Destructor Documentation

mpCovarianceEllipse::mpCovarianceEllipse	(	double	cov_00 = `1`,
		double	cov_11 = `1`,
		double	cov_01 = `0`,
		double	quantiles = `2`,
		int	segments = `32`,
		const wxString &	layerName = `wxT("")`
	)		`[inline]`

Default constructor.

Initializes to a unity diagonal covariance matrix, a 95% confidence interval (2 sigmas), 32 segments, and a continuous plot (m_continuous=true).

Definition at line 1547 of file mathplot.h.

References mpLAYER_PLOT.

virtual mpCovarianceEllipse::~mpCovarianceEllipse ( ) [inline, virtual]

Definition at line 1566 of file mathplot.h.

Member Function Documentation

const wxBrush& mpLayer::GetBrush ( ) const [inline, inherited]

Get brush set for this layer.

Returns:: brush.

Definition at line 314 of file mathplot.h.

wxBitmap mpLayer::GetColourSquare ( int side = 16 ) [inherited]

Get a small square bitmap filled with the colour of the pen used in the layer.

Useful to create legends or similar reference to the layers.

Parameters:

side	side length in pixels

Returns:: a wxBitmap filled with layer's colour

bool mpLayer::GetContinuity ( ) const [inline, inherited]

Gets the 'continuity' property of the layer.

See also:: SetContinuity

Definition at line 266 of file mathplot.h.

void mpMovableObject::GetCoordinateBase	(	double &	x,
		double &	y,
		double &	phi
	)		const `[inline, inherited]`

Get the current coordinate transformation.

Definition at line 1452 of file mathplot.h.

void mpCovarianceEllipse::GetCovarianceMatrix	(	double &	cov_00,
		double &	cov_01,
		double &	cov_11
	)		const `[inline]`

Returns the elements of the current covariance matrix:

Definition at line 1583 of file mathplot.h.

bool mpLayer::GetDrawOutsideMargins ( ) [inline, inherited]

Get Draw mode: inside or outside margins.

Returns:: The draw mode

Definition at line 293 of file mathplot.h.

const wxFont& mpLayer::GetFont ( ) const [inline, inherited]

Get font set for this layer.

Returns:: Font

Definition at line 251 of file mathplot.h.

mpLayerType mpLayer::GetLayerType ( ) [inline, inherited]

Get layer type: a Layer can be of different types: plot lines, axis, info boxes, etc, this method returns the right value.

Returns:: An integer indicating layer type

Definition at line 302 of file mathplot.h.

virtual double mpMovableObject::GetMaxX ( ) [inline, virtual, inherited]

Get inclusive right border of bounding box.

Reimplemented from mpLayer.

Definition at line 1478 of file mathplot.h.

virtual double mpMovableObject::GetMaxY ( ) [inline, virtual, inherited]

Get inclusive top border of bounding box.

Reimplemented from mpLayer.

Definition at line 1486 of file mathplot.h.

virtual double mpMovableObject::GetMinX ( ) [inline, virtual, inherited]

Get inclusive left border of bounding box.

Reimplemented from mpLayer.

Definition at line 1474 of file mathplot.h.

virtual double mpMovableObject::GetMinY ( ) [inline, virtual, inherited]

Get inclusive bottom border of bounding box.

Reimplemented from mpLayer.

Definition at line 1482 of file mathplot.h.

wxString mpLayer::GetName ( ) const [inline, inherited]

Get layer name.

Returns:: Name

Definition at line 246 of file mathplot.h.

const wxPen& mpLayer::GetPen ( ) const [inline, inherited]

Get pen set for this layer.

Returns:: Pen

Definition at line 256 of file mathplot.h.

double mpCovarianceEllipse::GetQuantiles ( ) const [inline]

Definition at line 1568 of file mathplot.h.

int mpCovarianceEllipse::GetSegments ( ) const [inline]

Definition at line 1579 of file mathplot.h.

virtual bool mpMovableObject::HasBBox ( ) [inline, virtual, inherited]

Check whether this layer has a bounding box.

The default implementation returns TRUE. Override and return FALSE if your mpLayer implementation should be ignored by the calculation of the global bounding box for all layers in a mpWindow.

Return values:

TRUE	Has bounding box
FALSE	Has not bounding box

Reimplemented from mpLayer.

Definition at line 1470 of file mathplot.h.

virtual bool mpLayer::IsInfo ( ) [inline, virtual, inherited]

Check whether the layer is an info box.

The default implementation returns FALSE. It is overrided to TRUE for mpInfoLayer class and its derivative. It is necessary to define mouse actions behaviour over info boxes.

Returns:: whether the layer is an info boxes

See also:: mpInfoLayer::IsInfo

Reimplemented in mpInfoLayer.

Definition at line 178 of file mathplot.h.

bool mpLayer::IsVisible ( ) [inline, inherited]

Checks whether the layer is visible or not.

Returns:: true if visible

Definition at line 306 of file mathplot.h.

virtual void mpMovableObject::Plot	(	wxDC &	dc,
		mpWindow &	w
	)		`[virtual, inherited]`

Plot given view of layer to the given device context.

An implementation of this function has to transform layer coordinates to wxDC coordinates based on the view parameters retrievable from the mpWindow passed in w. Note that the public methods of mpWindow: x2p,y2p and p2x,p2y are already provided which transform layer coordinates to DC pixel coordinates, and user code should rely on them for portability and future changes to be applied transparently, instead of implementing the following formulas manually.

The passed device context dc has its coordinate origin set to the top-left corner of the visible area (the default). The coordinate orientation is as shown in the following picture:

        (wxDC origin 0,0)
               x-------------> ascending X ----------------+
               |                                           |
               |                                           |
               V ascending Y                               |
	           |                                           |
	           |                                           |
	           |                                           |
	           +-------------------------------------------+  <-- right-bottom corner of the mpWindow visible area.

Note that Y ascends in downward direction, whereas the usual vertical orientation for mathematical plots is vice versa. Thus Y-orientation will be swapped usually, when transforming between wxDC and mpLayer coordinates. This change of coordinates is taken into account in the methods p2x,p2y,x2p,y2p.

Rules for transformation between mpLayer and wxDC coordinates

        dc_X = (layer_X - mpWindow::GetPosX()) * mpWindow::GetScaleX()
        dc_Y = (mpWindow::GetPosY() - layer_Y) * mpWindow::GetScaleY() // swapping Y-orientation

        layer_X = (dc_X / mpWindow::GetScaleX()) + mpWindow::GetPosX() // scale guaranteed to be not 0
        layer_Y = mpWindow::GetPosY() - (dc_Y / mpWindow::GetScaleY()) // swapping Y-orientation

Parameters:

dc	Device context to plot to.
w	View to plot. The visible area can be retrieved from this object.

See also:: mpWindow::p2x,mpWindow::p2y,mpWindow::x2p,mpWindow::y2p

Implements mpLayer.

void mpCovarianceEllipse::RecalculateShape ( ) [protected]

Called to update the m_shape_xs, m_shape_ys vectors, whenever a parameter changes.

void mpMovableObject::SetAlign ( int align ) [inline, inherited]

Set label axis alignment.

Parameters:

align alignment (choose between mpALIGN_NE, mpALIGN_NW, mpALIGN_SW, mpALIGN_SE

Definition at line 1493 of file mathplot.h.

void mpLayer::SetBrush ( wxBrush brush ) [inline, inherited]

Set layer brush.

Parameters:

brush brush, will be copied to internal class member

Definition at line 318 of file mathplot.h.

void mpLayer::SetContinuity ( bool continuity ) [inline, inherited]

Set the 'continuity' property of the layer (true:draws a continuous line, false:draws separate points).

See also:: GetContinuity

Definition at line 261 of file mathplot.h.

void mpMovableObject::SetCoordinateBase	(	double	x,
		double	y,
		double	phi = `0`
	)		`[inline, inherited]`

Set the coordinate transformation (phi in radians, 0 means no rotation).

Definition at line 1461 of file mathplot.h.

References Eigen::internal::y, and mpALIGN_NE.

void mpCovarianceEllipse::SetCovarianceMatrix	(	double	cov_00,
		double	cov_01,
		double	cov_11
	)		`[inline]`

Changes the covariance matrix:

Definition at line 1592 of file mathplot.h.

void mpLayer::SetDrawOutsideMargins ( bool drawModeOutside ) [inline, inherited]

Set Draw mode: inside or outside margins.

Default is outside, which allows the layer to draw up to the mpWindow border.

Parameters:

drawModeOutside The draw mode to be set

Definition at line 289 of file mathplot.h.

void mpLayer::SetFont ( wxFont & font ) [inline, inherited]

Set layer font.

Parameters:

font	Font, will be copied to internal class member

Definition at line 280 of file mathplot.h.

void mpLayer::SetName ( wxString name ) [inline, inherited]

Set layer name.

Parameters:

name	Name, will be copied to internal class member

Definition at line 275 of file mathplot.h.

void mpLayer::SetPen ( wxPen pen ) [inline, inherited]

Set layer pen.

Parameters:

pen	Pen, will be copied to internal class member

Definition at line 285 of file mathplot.h.

void mpCovarianceEllipse::SetQuantiles ( double q ) [inline]

Set how many "quantiles" to draw, that is, the confidence interval of the ellipse (see above).

Definition at line 1572 of file mathplot.h.

void mpCovarianceEllipse::SetSegments ( int segments ) [inline]

Definition at line 1578 of file mathplot.h.

void mpLayer::SetVisible ( bool show ) [inline, inherited]

Sets layer visibility.

Parameters:

show	visibility bool.

Definition at line 310 of file mathplot.h.

void mpMovableObject::ShapeUpdated ( ) [protected, inherited]

Must be called by the descendent class after updating the shape (m_shape_xs/ys), or when the transformation changes.

This method updates the buffers m_trans_shape_xs/ys, and the precomputed bounding box.

void mpLayer::ShowName ( bool show ) [inline, inherited]

Shows or hides the text label with the name of the layer (default is visible).

Definition at line 270 of file mathplot.h.

void mpMovableObject::TranslatePoint	(	double	x,
		double	y,
		double &	out_x,
		double &	out_y
	)		`[protected, inherited]`

A method for 2D translation and rotation, using the current transformation stored in m_reference_x,m_reference_y,m_reference_phi.

Member Data Documentation

double mpMovableObject::m_bbox_max_x [protected, inherited]

Definition at line 1518 of file mathplot.h.

double mpMovableObject::m_bbox_max_y [protected, inherited]

Definition at line 1518 of file mathplot.h.

double mpMovableObject::m_bbox_min_x [protected, inherited]

The precomputed bounding box:

See also:: ShapeUpdated

Definition at line 1518 of file mathplot.h.

double mpMovableObject::m_bbox_min_y [protected, inherited]

Definition at line 1518 of file mathplot.h.

wxBrush mpLayer::m_brush [protected, inherited]

Layer's brush.

Reimplemented in mpInfoLayer.

Definition at line 323 of file mathplot.h.

bool mpLayer::m_continuous [protected, inherited]

Specify if the layer will be plotted as a continuous line or a set of points.

Definition at line 325 of file mathplot.h.

double mpCovarianceEllipse::m_cov_00 [protected]

The elements of the matrix (only 3 since cov(0,1)=cov(1,0) in any positive definite matrix).

Definition at line 1603 of file mathplot.h.

double mpCovarianceEllipse::m_cov_01 [protected]

Definition at line 1603 of file mathplot.h.

double mpCovarianceEllipse::m_cov_11 [protected]

Definition at line 1603 of file mathplot.h.

bool mpLayer::m_drawOutsideMargins [protected, inherited]

select if the layer should draw only inside margins or over all DC

Definition at line 327 of file mathplot.h.

int mpMovableObject::m_flags [protected, inherited]

Holds label alignment.

Definition at line 1493 of file mathplot.h.

wxFont mpLayer::m_font [protected, inherited]

Layer's font.

Definition at line 318 of file mathplot.h.

wxString mpLayer::m_name [protected, inherited]

Layer's name.

Definition at line 324 of file mathplot.h.

wxPen mpLayer::m_pen [protected, inherited]

Layer's pen.

Definition at line 322 of file mathplot.h.

double mpCovarianceEllipse::m_quantiles [protected]

Definition at line 1604 of file mathplot.h.

double mpMovableObject::m_reference_phi [protected, inherited]

Definition at line 1500 of file mathplot.h.

double mpMovableObject::m_reference_x [protected, inherited]

The coordinates of the object (orientation "phi" is in radians).

Definition at line 1500 of file mathplot.h.

double mpMovableObject::m_reference_y [protected, inherited]

Definition at line 1500 of file mathplot.h.

int mpCovarianceEllipse::m_segments [protected]

The number of line segments that build up the ellipse.

Definition at line 1608 of file mathplot.h.

std::vector<double> mpMovableObject::m_shape_xs [protected, inherited]

This contains the object points, in local coordinates (to be transformed by the current transformation).

Definition at line 1508 of file mathplot.h.

std::vector<double> mpMovableObject::m_shape_ys [protected, inherited]

Definition at line 1508 of file mathplot.h.

bool mpLayer::m_showName [protected, inherited]

States whether the name of the layer must be shown (default is true).

Definition at line 326 of file mathplot.h.

std::vector<double> mpMovableObject::m_trans_shape_xs [protected, inherited]

The buffer for the translated & rotated points (to avoid recomputing them with each mpWindow refresh).

Definition at line 1513 of file mathplot.h.

std::vector<double> mpMovableObject::m_trans_shape_ys [protected, inherited]

Definition at line 1513 of file mathplot.h.

mpLayerType mpLayer::m_type [protected, inherited]

Define layer type, which is assigned by constructor.

Definition at line 328 of file mathplot.h.

bool mpLayer::m_visible [protected, inherited]

Toggles layer visibility.

Definition at line 329 of file mathplot.h.

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation