Detailed Description

Create a GUI window and display plots with MATLAB-like interfaces and commands.

For a list of supported events with the observer/observable pattern, see the discussion in mrpt::gui::CBaseGUIWindow.

#include <mrpt/gui/CDisplayWindowPlots.h>

Inheritance diagram for mrpt::gui::CDisplayWindowPlots:

Public Types
typedef void(*	TCallbackMenu )(int menuID, float cursor_x, float cursor_y, void *userParam)
	Type for the callback function used in setMenuCallback.
Public Member Functions
	CDisplayWindowPlots (const std::string &windowCaption=std::string(), unsigned int initialWidth=350, unsigned int initialHeight=300)
	Constructor.
virtual	~CDisplayWindowPlots ()
	Destructor.
virtual bool	getLastMousePosition (int &x, int &y) const
	Gets the last x,y pixel coordinates of the mouse.
virtual void	setCursorCross (bool cursorIsCross)
	Set cursor style to default (cursorIsCross=false) or to a cross (cursorIsCross=true)
void	resize (unsigned int width, unsigned int height)
	Resizes the window, stretching the image to fit into the display area.
void	setPos (int x, int y)
	Changes the position of the window on the screen.
void	setWindowTitle (const std::string &str)
	Changes the window title text.
void	enableMousePanZoom (bool enabled)
	Enable/disable the feature of pan/zoom with the mouse (default=enabled)
template<typename T1 , typename T2 >
void	plot (const std::vector< T1 > &x, const std::vector< T2 > &y, const std::string &lineFormat=std::string("b-"), const std::string &plotName=std::string("plotXY"))
	Adds a new layer with a 2D plot based on two vectors of X and Y points, using a MATLAB-like syntax.
template<typename T1 , typename Derived2 >
void	plot (const std::vector< T1 > &x, const Eigen::MatrixBase< Derived2 > &y, const std::string &lineFormat=std::string("b-"), const std::string &plotName=std::string("plotXY"))
template<typename Derived1 , typename T2 >
void	plot (const Eigen::MatrixBase< Derived1 > &x, const std::vector< T2 > &y, const std::string &lineFormat=std::string("b-"), const std::string &plotName=std::string("plotXY"))
template<typename Derived1 , typename Derived2 >
void	plot (const Eigen::MatrixBase< Derived1 > &x, const Eigen::MatrixBase< Derived2 > &y, const std::string &lineFormat=std::string("b-"), const std::string &plotName=std::string("plotXY"))
template<typename T >
void	plot (const std::vector< T > &y, const std::string &lineFormat=std::string("b-"), const std::string &plotName=std::string("plotXY"))
template<typename Derived >
void	plot (const Eigen::MatrixBase< Derived > &y, const std::string &lineFormat=std::string("b-"), const std::string &plotName=std::string("plotXY"))
void	axis (float x_min, float x_max, float y_min, float y_max, bool aspectRatioFix=false)
	Set the view area according to the passed coordinated.
void	axis_equal (bool enable=true)
	Enable/disable the fixed X/Y aspect ratio fix feature (default=disabled).
void	axis_fit (bool aspectRatioFix=false)
	Fix automatically the view area according to existing graphs.
template<typename T >
void GUI_IMPEXP	plotEllipse (const T mean_x, const T mean_y, const CMatrixTemplateNumeric< T > &cov22, const float quantiles, const std::string &lineFormat=std::string("b-"), const std::string &plotName=std::string("plotEllipse"), bool showName=false)
	Plots a 2D ellipse given its mean, covariance matrix, and Each call to this function creates a new plot, unless the plot name coincides with an already existing plot: in this case the new values are used to update this existing layer (this also applies to using the default plot name).
template<typename T >
void GUI_IMPEXP	plotEllipse (const T mean_x, const T mean_y, const CMatrixFixedNumeric< T, 2, 2 > &cov22, const float quantiles, const std::string &lineFormat=std::string("b-"), const std::string &plotName=std::string("plotEllipse"), bool showName=false)
void	image (const utils::CImage &img, const float &x_left, const float &y_bottom, const float &x_width, const float &y_height, const std::string &plotName=std::string("image"))
	Adds a bitmap image layer.
void	clear ()
	Remove all plot objects in the display.
void	clf ()
	Remove all plot objects in the display (clear and clf do exactly the same).
void	hold_on ()
	Enables keeping all the graphs, instead of overwritting them.
void	hold_off ()
	Disables keeping all the graphs (this is the default behavior).
void	addPopupMenuEntry (const std::string &label, int menuID)
	Disables keeping all the graphs (this is the default behavior).
void	setMenuCallback (TCallbackMenu userFunction, void *userParam=NULL)
	Must be called to have a callback when the user selects one of the user-defined entries in the popup menu.
void *	getWxObject ()
	Read-only access to the wxDialog object.
void	notifyChildWindowDestruction ()
	Called by wx main thread to set m_hwnd to NULL.
void	notifySemThreadReady ()
	Called by wx main thread to signal the semaphore that the wx window is built and ready.
bool	isOpen ()
	Returns false if the user has already closed the window.
int	waitForKey (bool ignoreControlKeys=true, mrptKeyModifier *out_pushModifier=NULL)
	Waits for any key to be pushed on the image or the console, and returns the key code.
bool	keyHit () const
	Returns true if a key has been pushed, without blocking waiting for a new key being pushed.
void	clearKeyHitFlag ()
	Assure that "keyHit" will return false until the next pushed key.
int	getPushedKey (mrptKeyModifier *out_pushModifier=NULL)
	Returns the latest pushed key, or 0 if there is no new key stroke.
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
CObject *	clone () const
	Cloning interface for smart pointers.
Static Public Member Functions
static CDisplayWindowPlotsPtr	Create (const std::string &windowCaption=std::string(), unsigned int initialWindowWidth=400, unsigned int initialWindowHeight=300)
	Class factory returning a smart pointer.
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
Protected Member Functions
void	internal_plot (vector_float &x, vector_float &y, const std::string &lineFormat, const std::string &plotName)
template<typename VECTOR1 , typename VECTOR2 >
void	internal_plot_interface (const VECTOR1 &x, const VECTOR2 &y, const std::string &lineFormat, const std::string &plotName)
template<typename VECTOR1 >
void	internal_plot_interface (const VECTOR1 &y, const std::string &lineFormat, const std::string &plotName)
void	createWxWindow (unsigned int initialWidth, unsigned int initialHeight)
	Must be called by child classes just within the constructor.
void	destroyWxWindow ()
	Must be called by child classes in their destructors. The code cannot be put into this class' destructor.
void	publishEvent (const mrptEvent &e) const
	Called when you want this object to emit an event to all the observers currently subscribed to this object.
bool	hasSubscribers () const
	Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read.
Protected Attributes
bool	m_holdon
	Whether hold_on is enabled.
bool	m_holdon_just_disabled
uint32_t	m_holdon_cnt
	Counter for hold_on.
TCallbackMenu	m_callback
void *	m_callback_param
synch::CSemaphore	m_semThreadReady
	This semaphore will be signaled when the wx window is built and ready.
synch::CSemaphore	m_semWindowDestroyed
	This semaphore will be signaled when the wx window is destroyed.
std::string	m_caption
	The caption of the window.
void_ptr_noncopy	m_hwnd
	The window handle.
volatile bool	m_keyPushed
volatile int	m_keyPushedCode
volatile mrptKeyModifier	m_keyPushedModifier
Friends
class	CWindowDialogPlots
class	CWindowDialog
class	C3DWindowDialog
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCBaseGUIWindow
class	mrpt::utils::CStream
RTTI stuff
typedef CDisplayWindowPlotsPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CDisplayWindowPlots
static mrpt::utils::TRuntimeClassId	classCDisplayWindowPlots
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CDisplayWindowPlotsPtr	Create ()

Member Typedef Documentation

typedef CDisplayWindowPlotsPtr mrpt::gui::CDisplayWindowPlots::SmartPtr

A typedef for the associated smart pointer

Definition at line 60 of file CDisplayWindowPlots.h.

typedef void(* mrpt::gui::CDisplayWindowPlots::TCallbackMenu)(int menuID, float cursor_x, float cursor_y, void *userParam)

Type for the callback function used in setMenuCallback.

Definition at line 63 of file CDisplayWindowPlots.h.

Constructor & Destructor Documentation

mrpt::gui::CDisplayWindowPlots::CDisplayWindowPlots	(	const std::string &	windowCaption = `std::string()`,
		unsigned int	initialWidth = `350`,
		unsigned int	initialHeight = `300`
	)

Constructor.

virtual mrpt::gui::CDisplayWindowPlots::~CDisplayWindowPlots ( ) [virtual]

Destructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::gui::CDisplayWindowPlots::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::gui::CBaseGUIWindow.

void mrpt::gui::CDisplayWindowPlots::addPopupMenuEntry	(	const std::string &	label,
		int	menuID
	)

Disables keeping all the graphs (this is the default behavior).

Parameters:

label	The text that appears in the new popup menu item.
menuID	Any positive number (0,1,..). Used to tell which menu was selected in the user callback.

See also:: setMenuCallback

void mrpt::gui::CDisplayWindowPlots::axis	(	float	x_min,
		float	x_max,
		float	y_min,
		float	y_max,
		bool	aspectRatioFix = `false`
	)

Set the view area according to the passed coordinated.

void mrpt::gui::CDisplayWindowPlots::axis_equal ( bool enable = true )

Enable/disable the fixed X/Y aspect ratio fix feature (default=disabled).

void mrpt::gui::CDisplayWindowPlots::axis_fit ( bool aspectRatioFix = false )

Fix automatically the view area according to existing graphs.

void mrpt::gui::CDisplayWindowPlots::clear ( )

Remove all plot objects in the display.

See also:: plot

void mrpt::gui::CBaseGUIWindow::clearKeyHitFlag ( ) [inline, inherited]

Assure that "keyHit" will return false until the next pushed key.

See also:: keyHit, waitForKey

Definition at line 149 of file CBaseGUIWindow.h.

void mrpt::gui::CDisplayWindowPlots::clf ( ) [inline]

Remove all plot objects in the display (clear and clf do exactly the same).

See also:: plot, hold_on, hold_off

Definition at line 242 of file CDisplayWindowPlots.h.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

static CDisplayWindowPlotsPtr mrpt::gui::CDisplayWindowPlots::Create ( ) [static]

static CDisplayWindowPlotsPtr mrpt::gui::CDisplayWindowPlots::Create	(	const std::string &	windowCaption = `std::string()`,
		unsigned int	initialWindowWidth = `400`,
		unsigned int	initialWindowHeight = `300`
	)		`[inline, static]`

Class factory returning a smart pointer.

Definition at line 104 of file CDisplayWindowPlots.h.

static mrpt::utils::CObject* mrpt::gui::CDisplayWindowPlots::CreateObject ( ) [static]

void mrpt::gui::CBaseGUIWindow::createWxWindow	(	unsigned int	initialWidth,
		unsigned int	initialHeight
	)		`[protected, inherited]`

Must be called by child classes just within the constructor.

void mrpt::gui::CBaseGUIWindow::destroyWxWindow ( ) [protected, inherited]

Must be called by child classes in their destructors. The code cannot be put into this class' destructor.

virtual mrpt::utils::CObject* mrpt::gui::CDisplayWindowPlots::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

void mrpt::gui::CDisplayWindowPlots::enableMousePanZoom ( bool enabled )

Enable/disable the feature of pan/zoom with the mouse (default=enabled)

virtual bool mrpt::gui::CDisplayWindowPlots::getLastMousePosition	(	int &	x,
		int &	y
	)		const `[virtual]`

Gets the last x,y pixel coordinates of the mouse.

Returns:: False if the window is closed.

Implements mrpt::gui::CBaseGUIWindow.

int mrpt::gui::CBaseGUIWindow::getPushedKey ( mrptKeyModifier * out_pushModifier = NULL ) [inherited]

Returns the latest pushed key, or 0 if there is no new key stroke.

Parameters:

out_pushModifier If set to !=NULL, the modifiers of the key stroke will be saved here.

Returns:: The virtual key code, as defined in <mrpt/gui/keycodes.h> (a replication of wxWidgets key codes).

See also:: keyHit, waitForKey

virtual const mrpt::utils::TRuntimeClassId* mrpt::gui::CDisplayWindowPlots::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::gui::CBaseGUIWindow.

void* mrpt::gui::CBaseGUIWindow::getWxObject ( ) [inline, inherited]

Read-only access to the wxDialog object.

Definition at line 97 of file CBaseGUIWindow.h.

References mrpt::utils::non_copiable_ptr_basic::get().

bool mrpt::utils::CObservable::hasSubscribers ( ) const [inline, protected, inherited]

Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read.

Definition at line 69 of file CObservable.h.

void mrpt::gui::CDisplayWindowPlots::hold_off ( )

Disables keeping all the graphs (this is the default behavior).

See also:: hold_on, plot

void mrpt::gui::CDisplayWindowPlots::hold_on ( )

Enables keeping all the graphs, instead of overwritting them.

See also:: hold_off, plot

void mrpt::gui::CDisplayWindowPlots::image	(	const utils::CImage &	img,
		const float &	x_left,
		const float &	y_bottom,
		const float &	x_width,
		const float &	y_height,
		const std::string &	plotName = `std::string("image")`
	)

Adds a bitmap image layer.

Each call to this function creates a new layer, unless the plot name coincides with an already existing plot: in this case the new values are used to update this existing layer (this also applies to using the default plot name).

See also:: axis, axis_equal, axis_fit, hold_on, hold_off

void mrpt::gui::CDisplayWindowPlots::internal_plot	(	vector_float &	x,
		vector_float &	y,
		const std::string &	lineFormat,
		const std::string &	plotName
	)		`[protected]`

template<typename VECTOR1 , typename VECTOR2 >

void mrpt::gui::CDisplayWindowPlots::internal_plot_interface	(	const VECTOR1 &	x,
		const VECTOR2 &	y,
		const std::string &	lineFormat,
		const std::string &	plotName
	)		`[inline, protected]`

Definition at line 76 of file CDisplayWindowPlots.h.

template<typename VECTOR1 >

void mrpt::gui::CDisplayWindowPlots::internal_plot_interface	(	const VECTOR1 &	y,
		const std::string &	lineFormat,
		const std::string &	plotName
	)		`[inline, protected]`

Definition at line 86 of file CDisplayWindowPlots.h.

bool mrpt::gui::CBaseGUIWindow::isOpen ( ) [inherited]

Returns false if the user has already closed the window.

bool mrpt::gui::CBaseGUIWindow::keyHit ( ) const [inline, inherited]

Returns true if a key has been pushed, without blocking waiting for a new key being pushed.

See also:: waitForKey, clearKeyHitFlag

Definition at line 144 of file CBaseGUIWindow.h.

void mrpt::gui::CBaseGUIWindow::notifyChildWindowDestruction ( ) [inherited]

Called by wx main thread to set m_hwnd to NULL.

void mrpt::gui::CBaseGUIWindow::notifySemThreadReady ( ) [inherited]

Called by wx main thread to signal the semaphore that the wx window is built and ready.

template<typename T1 , typename T2 >

void mrpt::gui::CDisplayWindowPlots::plot	(	const std::vector< T1 > &	x,
		const std::vector< T2 > &	y,
		const std::string &	lineFormat = `std::string("b-")`,
		const std::string &	plotName = `std::string("plotXY")`
	)		`[inline]`

Adds a new layer with a 2D plot based on two vectors of X and Y points, using a MATLAB-like syntax.

Each call to this function creates a new plot, unless the plot name coincides with an already existing plot: in this case the X & Y points are used to update this existing layer (this also applies to using the default plot name). If "hold_on" is enabled, then every call will always create a new plot, even if no "plotName" is provided.

The lineFormat string is a combination of the following characters:

Line styles:
- '.': One point for each data point
- '-': A continuous line
- ':': A dashed line
Colors:
- k: black
- r: red
- g: green
- b: blue
- m: magenta
- c: cyan
Line width:
- '1' to '9': The line width (default=1)

Examples:

'r.' -> red points.
'k3' or 'k-3' -> A black line with a line width of 3 pixels.
Note:
The vectors x & y can be of types: float or double.

See also:
axis, axis_equal, axis_fit, clear, hold_on, hold_off

Template Parameters:

VECTOR Can be std::vector<float/double> or mrpt::dynamicsize_vector<float/double> or a column/row Eigen::Matrix<>

Definition at line 164 of file CDisplayWindowPlots.h.

template<typename T1 , typename Derived2 >

void mrpt::gui::CDisplayWindowPlots::plot	(	const std::vector< T1 > &	x,
		const Eigen::MatrixBase< Derived2 > &	y,
		const std::string &	lineFormat = `std::string("b-")`,
		const std::string &	plotName = `std::string("plotXY")`
	)		`[inline]`

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 166 of file CDisplayWindowPlots.h.

template<typename Derived1 , typename T2 >

void mrpt::gui::CDisplayWindowPlots::plot	(	const Eigen::MatrixBase< Derived1 > &	x,
		const std::vector< T2 > &	y,
		const std::string &	lineFormat = `std::string("b-")`,
		const std::string &	plotName = `std::string("plotXY")`
	)		`[inline]`

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 168 of file CDisplayWindowPlots.h.

template<typename Derived1 , typename Derived2 >

void mrpt::gui::CDisplayWindowPlots::plot	(	const Eigen::MatrixBase< Derived1 > &	x,
		const Eigen::MatrixBase< Derived2 > &	y,
		const std::string &	lineFormat = `std::string("b-")`,
		const std::string &	plotName = `std::string("plotXY")`
	)		`[inline]`

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 170 of file CDisplayWindowPlots.h.

template<typename T >

void mrpt::gui::CDisplayWindowPlots::plot	(	const std::vector< T > &	y,
		const std::string &	lineFormat = `std::string("b-")`,
		const std::string &	plotName = `std::string("plotXY")`
	)		`[inline]`

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 173 of file CDisplayWindowPlots.h.

template<typename Derived >

void mrpt::gui::CDisplayWindowPlots::plot	(	const Eigen::MatrixBase< Derived > &	y,
		const std::string &	lineFormat = `std::string("b-")`,
		const std::string &	plotName = `std::string("plotXY")`
	)		`[inline]`

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 175 of file CDisplayWindowPlots.h.

template<typename T >

void GUI_IMPEXP mrpt::gui::CDisplayWindowPlots::plotEllipse	(	const T	mean_x,
		const T	mean_y,
		const CMatrixTemplateNumeric< T > &	cov22,
		const float	quantiles,
		const std::string &	lineFormat = `std::string("b-")`,
		const std::string &	plotName = `std::string("plotEllipse")`,
		bool	showName = `false`
	)

Plots a 2D ellipse given its mean, covariance matrix, and Each call to this function creates a new plot, unless the plot name coincides with an already existing plot: in this case the new values are used to update this existing layer (this also applies to using the default plot name).

If "hold_on" is enabled, then every call will always create a new plot, even if no "plotName" is provided.

For a description of lineFormat see CDisplayWindowPlots::plot. The "quantiles" value determines the confidence interval for the ellipse:

1 : 68.27% confidence interval
2 : 95.45%
3 : 99.73%
4 : 99.994%
Note:
This method can be called with 2x2 fixed-sized or dynamic-size matrices of types: float or double.

See also:
axis, axis_equal, axis_fit, hold_on, hold_off

template<typename T >

void GUI_IMPEXP mrpt::gui::CDisplayWindowPlots::plotEllipse	(	const T	mean_x,
		const T	mean_y,
		const CMatrixFixedNumeric< T, 2, 2 > &	cov22,
		const float	quantiles,
		const std::string &	lineFormat = `std::string("b-")`,
		const std::string &	plotName = `std::string("plotEllipse")`,
		bool	showName = `false`
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

void mrpt::utils::CObservable::publishEvent ( const mrptEvent & e ) const [protected, inherited]

Called when you want this object to emit an event to all the observers currently subscribed to this object.

void mrpt::gui::CDisplayWindowPlots::resize	(	unsigned int	width,
		unsigned int	height
	)		`[virtual]`

Resizes the window, stretching the image to fit into the display area.

Implements mrpt::gui::CBaseGUIWindow.

virtual void mrpt::gui::CDisplayWindowPlots::setCursorCross ( bool cursorIsCross ) [virtual]

Set cursor style to default (cursorIsCross=false) or to a cross (cursorIsCross=true)

Implements mrpt::gui::CBaseGUIWindow.

void mrpt::gui::CDisplayWindowPlots::setMenuCallback	(	TCallbackMenu	userFunction,
		void *	userParam = `NULL`
	)

Must be called to have a callback when the user selects one of the user-defined entries in the popup menu.

See also:: addPopupMenuEntry

void mrpt::gui::CDisplayWindowPlots::setPos	(	int	x,
		int	y
	)		`[virtual]`

Changes the position of the window on the screen.

Implements mrpt::gui::CBaseGUIWindow.

void mrpt::gui::CDisplayWindowPlots::setWindowTitle ( const std::string & str ) [virtual]

Changes the window title text.

Implements mrpt::gui::CBaseGUIWindow.

int mrpt::gui::CBaseGUIWindow::waitForKey	(	bool	ignoreControlKeys = `true`,
		mrptKeyModifier *	out_pushModifier = `NULL`
	)		`[inherited]`

Waits for any key to be pushed on the image or the console, and returns the key code.

This method remove key strokes previous to its call, so it will always wait. To get the latest pushed key, see

Parameters:

ignoreControlKeys	If set to false, any push of shift, cmd, control, etc... will make this method to return.
out_pushModifier	If set to !=NULL, the modifiers of the key stroke will be saved here.