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mrpt::gui::CDisplayWindowPlots Class Reference
[mrpt-gui]

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.

See CDisplayWindowPlots::plot

Definition at line 31 of file CDisplayWindowPlots.h.

#include <mrpt/gui/CDisplayWindowPlots.h>

Inheritance diagram for mrpt::gui::CDisplayWindowPlots:
Inheritance graph

Public Types

using Ptr = std::shared_ptr< CDisplayWindowPlots >
 
using TCallbackMenu = void(*)(int menuID, float cursor_x, float cursor_y, void *userParam)
 Type for the callback function used in setMenuCallback. More...
 

Public Member Functions

 CDisplayWindowPlots (const std::string &windowCaption=std::string(), unsigned int initialWidth=350, unsigned int initialHeight=300)
 Constructor. More...
 
virtual ~CDisplayWindowPlots ()
 Destructor. More...
 
virtual bool getLastMousePosition (int &x, int &y) const override
 Gets the last x,y pixel coordinates of the mouse. More...
 
virtual void setCursorCross (bool cursorIsCross) override
 Set cursor style to default (cursorIsCross=false) or to a cross (cursorIsCross=true) More...
 
void resize (unsigned int width, unsigned int height) override
 Resizes the window, stretching the image to fit into the display area. More...
 
void setPos (int x, int y) override
 Changes the position of the window on the screen. More...
 
void setWindowTitle (const std::string &str) override
 Changes the window title text. More...
 
void enableMousePanZoom (bool enabled)
 Enable/disable the feature of pan/zoom with the mouse (default=enabled) More...
 
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. More...
 
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"))
 This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
 
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"))
 This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
 
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"))
 This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
 
template<typename T >
void plot (const std::vector< T > &y, const std::string &lineFormat=std::string("b-"), const std::string &plotName=std::string("plotXY"))
 This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
 
template<typename Derived >
void plot (const Eigen::MatrixBase< Derived > &y, const std::string &lineFormat=std::string("b-"), const std::string &plotName=std::string("plotXY"))
 This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
 
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. More...
 
void axis_equal (bool enable=true)
 Enable/disable the fixed X/Y aspect ratio fix feature (default=disabled). More...
 
void axis_fit (bool aspectRatioFix=false)
 Fix automatically the view area according to existing graphs. More...
 
template<typename T >
void plotEllipse (const T mean_x, const T mean_y, const mrpt::math::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). More...
 
template<typename T >
void plotEllipse (const T mean_x, const T mean_y, const mrpt::math::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. More...
 
void image (const mrpt::img::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. More...
 
void clear ()
 Remove all plot objects in the display. More...
 
void clf ()
 Remove all plot objects in the display (clear and clf do exactly the same). More...
 
void hold_on ()
 Enables keeping all the graphs, instead of overwritting them. More...
 
void hold_off ()
 Disables keeping all the graphs (this is the default behavior). More...
 
void addPopupMenuEntry (const std::string &label, int menuID)
 Disables keeping all the graphs (this is the default behavior). More...
 
void setMenuCallback (TCallbackMenu userFunction, void *userParam=nullptr)
 Must be called to have a callback when the user selects one of the user-defined entries in the popup menu. More...
 
void * getWxObject ()
 Read-only access to the wxDialog object. More...
 
void notifyChildWindowDestruction ()
 Called by wx main thread to set m_hwnd to NULL. More...
 
void notifySemThreadReady ()
 Called by wx main thread to signal the semaphore that the wx window is built and ready. More...
 
bool isOpen ()
 Returns false if the user has already closed the window. More...
 
int waitForKey (bool ignoreControlKeys=true, mrptKeyModifier *out_pushModifier=nullptr)
 Waits for any key to be pushed on the image or the console, and returns the key code. More...
 
bool keyHit () const
 Returns true if a key has been pushed, without blocking waiting for a new key being pushed. More...
 
void clearKeyHitFlag ()
 Assure that "keyHit" will return false until the next pushed key. More...
 
int getPushedKey (mrptKeyModifier *out_pushModifier=nullptr)
 Returns the latest pushed key, or 0 if there is no new key stroke. More...
 

Static Public Member Functions

static CDisplayWindowPlots::Ptr Create (const std::string &windowCaption, unsigned int initialWindowWidth=400, unsigned int initialWindowHeight=300)
 Class factory returning a smart pointer. More...
 

Protected Member Functions

void internal_plot (mrpt::math::CVectorFloat &x, mrpt::math::CVectorFloat &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. More...
 
void destroyWxWindow ()
 Must be called by child classes in their destructors. More...
 
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. More...
 
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. More...
 

Protected Attributes

bool m_holdon
 Whether hold_on is enabled. More...
 
bool m_holdon_just_disabled
 
uint32_t m_holdon_cnt
 Counter for hold_on. More...
 
TCallbackMenu m_callback
 
void * m_callback_param
 
std::promise< void > m_threadReady
 This semaphore will be signaled when the wx window is built and ready. More...
 
std::promise< void > m_windowDestroyed
 This semaphore will be signaled when the wx window is destroyed. More...
 
std::string m_caption
 The caption of the window. More...
 
mrpt::void_ptr_noncopy m_hwnd
 The window handle. More...
 
volatile bool m_keyPushed
 
volatile int m_keyPushedCode
 
volatile mrptKeyModifier m_keyPushedModifier
 

Private Member Functions

void internal_observer_begin (CObserver *)
 
void internal_observer_end (CObserver *)
 

Private Attributes

const int m_CMD_CREATE_WIN
 can be 200,300,400... More...
 
const int m_CMD_DESTROY_WIN
 can be 299,399,499... More...
 
void * m_winobj_voidptr
 
std::set< CObserver * > m_subscribers
 

Friends

class CWindowDialogPlots
 

Member Typedef Documentation

◆ Ptr

using mrpt::gui::CDisplayWindowPlots::Ptr = std::shared_ptr<CDisplayWindowPlots>

Definition at line 34 of file CDisplayWindowPlots.h.

◆ TCallbackMenu

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

Type for the callback function used in setMenuCallback.

Definition at line 38 of file CDisplayWindowPlots.h.

Constructor & Destructor Documentation

◆ CDisplayWindowPlots()

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

Constructor.

Definition at line 686 of file CDisplayWindowPlots.cpp.

References mrpt::gui::CBaseGUIWindow::createWxWindow().

◆ ~CDisplayWindowPlots()

CDisplayWindowPlots::~CDisplayWindowPlots ( )
virtual

Destructor.

Definition at line 702 of file CDisplayWindowPlots.cpp.

References mrpt::gui::CBaseGUIWindow::destroyWxWindow().

Member Function Documentation

◆ addPopupMenuEntry()

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

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

Parameters
labelThe text that appears in the new popup menu item.
menuIDAny positive number (0,1,..). Used to tell which menu was selected in the user callback.
See also
setMenuCallback

Definition at line 1195 of file CDisplayWindowPlots.cpp.

References mrpt::gui::CBaseGUIWindow::isOpen(), MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::TRequestToWxMainThread::plotName, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::x.

◆ axis()

void 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.

Definition at line 861 of file CDisplayWindowPlots.cpp.

References mrpt::gui::WxSubsystem::TRequestToWxMainThread::boolVal, mrpt::gui::CBaseGUIWindow::isOpen(), MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots, mrpt::gui::WxSubsystem::TRequestToWxMainThread::vector_x, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::vector_y.

◆ axis_equal()

void CDisplayWindowPlots::axis_equal ( bool  enable = true)

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

Definition at line 841 of file CDisplayWindowPlots.cpp.

References mrpt::gui::WxSubsystem::TRequestToWxMainThread::boolVal, mrpt::gui::CBaseGUIWindow::isOpen(), MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), and mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots.

◆ axis_fit()

void CDisplayWindowPlots::axis_fit ( bool  aspectRatioFix = false)

Fix automatically the view area according to existing graphs.

Definition at line 892 of file CDisplayWindowPlots.cpp.

References mrpt::gui::WxSubsystem::TRequestToWxMainThread::boolVal, mrpt::gui::CBaseGUIWindow::isOpen(), MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), and mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots.

◆ clear()

void CDisplayWindowPlots::clear ( )

Remove all plot objects in the display.

See also
plot

Definition at line 1157 of file CDisplayWindowPlots.cpp.

References mrpt::gui::CBaseGUIWindow::isOpen(), MRPT_END, MRPT_START, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), and mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots.

Referenced by clf().

◆ clearKeyHitFlag()

void mrpt::gui::CBaseGUIWindow::clearKeyHitFlag ( )
inlineinherited

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

See also
keyHit, waitForKey

Definition at line 145 of file CBaseGUIWindow.h.

References mrpt::gui::CBaseGUIWindow::m_keyPushed.

◆ clf()

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 281 of file CDisplayWindowPlots.h.

References clear().

Referenced by image(), internal_plot(), and plotEllipse().

◆ Create()

CDisplayWindowPlots::Ptr CDisplayWindowPlots::Create ( const std::string &  windowCaption,
unsigned int  initialWindowWidth = 400,
unsigned int  initialWindowHeight = 300 
)
static

Class factory returning a smart pointer.

Definition at line 675 of file CDisplayWindowPlots.cpp.

◆ createWxWindow()

void CBaseGUIWindow::createWxWindow ( unsigned int  initialWidth,
unsigned int  initialHeight 
)
protectedinherited

Must be called by child classes just within the constructor.

Definition at line 42 of file CBaseGUIWindow.cpp.

References mrpt::gui::WxSubsystem::createOneInstanceMainThread(), mrpt::non_copiable_ptr_basic< T >::getPtrToPtr(), mrpt::gui::WxSubsystem::isConsoleApp(), mrpt::gui::CBaseGUIWindow::m_caption, mrpt::gui::CBaseGUIWindow::m_CMD_CREATE_WIN, mrpt::gui::CBaseGUIWindow::m_hwnd, mrpt::gui::CBaseGUIWindow::m_threadReady, mrpt::gui::CBaseGUIWindow::m_winobj_voidptr, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::source2D, mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D, mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots, mrpt::gui::WxSubsystem::TRequestToWxMainThread::str, THROW_EXCEPTION, mrpt::gui::WxSubsystem::TRequestToWxMainThread::voidPtr, mrpt::gui::WxSubsystem::TRequestToWxMainThread::x, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::y.

Referenced by mrpt::gui::CDisplayWindow::CDisplayWindow(), mrpt::gui::CDisplayWindow3D::CDisplayWindow3D(), and CDisplayWindowPlots().

◆ destroyWxWindow()

void CBaseGUIWindow::destroyWxWindow ( )
protectedinherited

Must be called by child classes in their destructors.

The code cannot be put into this class' destructor.

Definition at line 105 of file CBaseGUIWindow.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::WxSubsystem::isConsoleApp(), mrpt::gui::CBaseGUIWindow::m_CMD_DESTROY_WIN, mrpt::gui::CBaseGUIWindow::m_hwnd, mrpt::gui::CBaseGUIWindow::m_windowDestroyed, mrpt::gui::CBaseGUIWindow::m_winobj_voidptr, MRPT_END, MRPT_START, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::source2D, mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D, mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots, and mrpt::gui::WxSubsystem::waitWxShutdownsIfNoWindows().

Referenced by mrpt::gui::CDisplayWindow::~CDisplayWindow(), mrpt::gui::CDisplayWindow3D::~CDisplayWindow3D(), and ~CDisplayWindowPlots().

◆ enableMousePanZoom()

void CDisplayWindowPlots::enableMousePanZoom ( bool  enabled)

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

Definition at line 821 of file CDisplayWindowPlots.cpp.

References mrpt::gui::WxSubsystem::TRequestToWxMainThread::boolVal, mrpt::gui::CBaseGUIWindow::isOpen(), MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), and mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots.

◆ getLastMousePosition()

bool CDisplayWindowPlots::getLastMousePosition ( int &  x,
int &  y 
) const
overridevirtual

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

Returns
False if the window is closed.

Implements mrpt::gui::CBaseGUIWindow.

Definition at line 724 of file CDisplayWindowPlots.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, MRPT_UNUSED_PARAM, and win.

◆ getPushedKey()

int CBaseGUIWindow::getPushedKey ( mrptKeyModifier *  out_pushModifier = nullptr)
inherited

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

Parameters
out_pushModifierIf set to !=nullptr, 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

Definition at line 190 of file CBaseGUIWindow.cpp.

References mrpt::gui::CBaseGUIWindow::isOpen(), mrpt::gui::CBaseGUIWindow::m_keyPushed, mrpt::gui::CBaseGUIWindow::m_keyPushedCode, mrpt::gui::CBaseGUIWindow::m_keyPushedModifier, and mrpt::gui::MRPTKMOD_NONE.

◆ getWxObject()

void* mrpt::gui::CBaseGUIWindow::getWxObject ( )
inlineinherited

Read-only access to the wxDialog object.

Definition at line 79 of file CBaseGUIWindow.h.

References mrpt::non_copiable_ptr_basic< T >::get(), and mrpt::gui::CBaseGUIWindow::m_hwnd.

Referenced by mrpt::gui::WxSubsystem::CWXMainFrame::OnTimerProcessRequests().

◆ hasSubscribers()

bool mrpt::system::CObservable::hasSubscribers ( ) const
inlineprotectedinherited

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 55 of file CObservable.h.

References mrpt::system::CObservable::m_subscribers.

Referenced by mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), and mrpt::opengl::COpenGLViewport::render().

◆ hold_off()

void CDisplayWindowPlots::hold_off ( )

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

See also
hold_on, plot

Definition at line 1183 of file CDisplayWindowPlots.cpp.

References m_holdon, and m_holdon_just_disabled.

◆ hold_on()

void CDisplayWindowPlots::hold_on ( )

Enables keeping all the graphs, instead of overwritting them.

See also
hold_off, plot

Definition at line 1179 of file CDisplayWindowPlots.cpp.

References m_holdon.

◆ image()

void CDisplayWindowPlots::image ( const mrpt::img::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

Definition at line 1059 of file CDisplayWindowPlots.cpp.

References clf(), mrpt::format(), mrpt::gui::CBaseGUIWindow::isOpen(), m_holdon, m_holdon_cnt, m_holdon_just_disabled, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, mrpt::gui::MRPTImage2wxImage(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::TRequestToWxMainThread::plotName, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots, mrpt::gui::WxSubsystem::TRequestToWxMainThread::vector_x, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::voidPtr2.

◆ internal_observer_begin()

void CObservable::internal_observer_begin ( CObserver *  o)
privateinherited

Definition at line 29 of file CObservable.cpp.

◆ internal_observer_end()

void CObservable::internal_observer_end ( CObserver *  o)
privateinherited

Definition at line 34 of file CObservable.cpp.

References ASSERTMSG_, MRPT_END, and MRPT_START.

◆ internal_plot()

void CDisplayWindowPlots::internal_plot ( mrpt::math::CVectorFloat &  x,
mrpt::math::CVectorFloat &  y,
const std::string &  lineFormat,
const std::string &  plotName 
)
protected

Definition at line 1111 of file CDisplayWindowPlots.cpp.

References ASSERT_EQUAL_, clf(), mrpt::format(), mrpt::gui::CBaseGUIWindow::isOpen(), m_holdon, m_holdon_cnt, m_holdon_just_disabled, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::TRequestToWxMainThread::plotName, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots, mrpt::gui::WxSubsystem::TRequestToWxMainThread::str, mrpt::gui::WxSubsystem::TRequestToWxMainThread::vector_x, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::vector_y.

Referenced by internal_plot_interface().

◆ internal_plot_interface() [1/2]

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 
)
inlineprotected

Definition at line 55 of file CDisplayWindowPlots.h.

References internal_plot().

Referenced by plot().

◆ internal_plot_interface() [2/2]

template<typename VECTOR1 >
void mrpt::gui::CDisplayWindowPlots::internal_plot_interface ( const VECTOR1 &  y,
const std::string &  lineFormat,
const std::string &  plotName 
)
inlineprotected

Definition at line 67 of file CDisplayWindowPlots.h.

References internal_plot().

◆ isOpen()

bool CBaseGUIWindow::isOpen ( )
inherited

Returns false if the user has already closed the window.

Definition at line 213 of file CBaseGUIWindow.cpp.

References mrpt::gui::CBaseGUIWindow::m_hwnd.

Referenced by addPopupMenuEntry(), axis(), axis_equal(), axis_fit(), clear(), mrpt::math::CMonteCarlo< T, NUM, OTHER >::doExperiment(), enableMousePanZoom(), mrpt::gui::CBaseGUIWindow::getPushedKey(), image(), internal_plot(), mrpt::graphslam::CWindowManager::isOpen(), plotEllipse(), resize(), mrpt::gui::CDisplayWindow3D::resize(), mrpt::gui::CDisplayWindow::resize(), setPos(), mrpt::gui::CDisplayWindow3D::setPos(), mrpt::gui::CDisplayWindow::setPos(), setWindowTitle(), mrpt::gui::CDisplayWindow3D::setWindowTitle(), mrpt::gui::CDisplayWindow::setWindowTitle(), mrpt::gui::CBaseGUIWindow::waitForKey(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

◆ keyHit()

bool mrpt::gui::CBaseGUIWindow::keyHit ( ) const
inlineinherited

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

See also
waitForKey, clearKeyHitFlag

Definition at line 141 of file CBaseGUIWindow.h.

References mrpt::gui::CBaseGUIWindow::m_keyPushed.

◆ notifyChildWindowDestruction()

void CBaseGUIWindow::notifyChildWindowDestruction ( )
inherited

Called by wx main thread to set m_hwnd to NULL.

Definition at line 152 of file CBaseGUIWindow.cpp.

References mrpt::gui::CBaseGUIWindow::m_hwnd.

Referenced by mrpt::gui::CWindowDialog::OnClose(), and mrpt::gui::C3DWindowDialog::OnClose().

◆ notifySemThreadReady()

void CBaseGUIWindow::notifySemThreadReady ( )
inherited

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

Definition at line 217 of file CBaseGUIWindow.cpp.

References mrpt::gui::CBaseGUIWindow::m_threadReady.

Referenced by mrpt::gui::WxSubsystem::CWXMainFrame::OnTimerProcessRequests().

◆ plot() [1/6]

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 201 of file CDisplayWindowPlots.h.

References internal_plot_interface().

◆ plot() [2/6]

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 181 of file CDisplayWindowPlots.h.

References internal_plot_interface().

◆ plot() [3/6]

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 172 of file CDisplayWindowPlots.h.

References internal_plot_interface().

◆ plot() [4/6]

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 192 of file CDisplayWindowPlots.h.

References internal_plot_interface().

◆ plot() [5/6]

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 163 of file CDisplayWindowPlots.h.

References internal_plot_interface().

◆ plot() [6/6]

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

Definition at line 154 of file CDisplayWindowPlots.h.

References internal_plot_interface().

Referenced by mrpt::math::CMonteCarlo< T, NUM, OTHER >::doExperiment().

◆ plotEllipse() [1/2]

template<typename T >
void CDisplayWindowPlots::plotEllipse ( const T  mean_x,
const T  mean_y,
const mrpt::math::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.

Definition at line 987 of file CDisplayWindowPlots.cpp.

References ASSERT_, mrpt::gui::WxSubsystem::TRequestToWxMainThread::boolVal, clf(), mrpt::format(), mrpt::gui::CBaseGUIWindow::isOpen(), m_holdon, m_holdon_cnt, m_holdon_just_disabled, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::TRequestToWxMainThread::plotName, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots, mrpt::gui::WxSubsystem::TRequestToWxMainThread::str, mrpt::gui::WxSubsystem::TRequestToWxMainThread::vector_x, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::vector_y.

◆ plotEllipse() [2/2]

template<typename T >
void CDisplayWindowPlots::plotEllipse ( const T  mean_x,
const T  mean_y,
const mrpt::math::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

Definition at line 913 of file CDisplayWindowPlots.cpp.

References ASSERT_, mrpt::gui::WxSubsystem::TRequestToWxMainThread::boolVal, clf(), mrpt::format(), mrpt::gui::CBaseGUIWindow::isOpen(), m_holdon, m_holdon_cnt, m_holdon_just_disabled, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::TRequestToWxMainThread::plotName, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots, mrpt::gui::WxSubsystem::TRequestToWxMainThread::str, mrpt::gui::WxSubsystem::TRequestToWxMainThread::vector_x, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::vector_y.

◆ publishEvent()

void CObservable::publishEvent ( const mrptEvent &  e) const
protectedinherited

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

Definition at line 48 of file CObservable.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::gui::CDisplayWindow3D::internal_emitGrabImageEvent(), mrpt::gui::CWindowDialog::OnChar(), mrpt::gui::CWindowDialog::OnClose(), mrpt::gui::C3DWindowDialog::OnClose(), mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), mrpt::gui::C3DWindowDialog::OnResize(), and mrpt::opengl::COpenGLViewport::render().

◆ resize()

void CDisplayWindowPlots::resize ( unsigned int  width,
unsigned int  height 
)
overridevirtual

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

Implements mrpt::gui::CBaseGUIWindow.

Definition at line 742 of file CDisplayWindowPlots.cpp.

References mrpt::gui::CBaseGUIWindow::isOpen(), mrpt::gui::CBaseGUIWindow::m_caption, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots, mrpt::gui::WxSubsystem::TRequestToWxMainThread::x, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::y.

◆ setCursorCross()

void CDisplayWindowPlots::setCursorCross ( bool  cursorIsCross)
overridevirtual

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

Implements mrpt::gui::CBaseGUIWindow.

Definition at line 709 of file CDisplayWindowPlots.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, MRPT_UNUSED_PARAM, and win.

◆ setMenuCallback()

void CDisplayWindowPlots::setMenuCallback ( TCallbackMenu  userFunction,
void *  userParam = nullptr 
)

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

See also
addPopupMenuEntry

Definition at line 1221 of file CDisplayWindowPlots.cpp.

References ASSERT_, m_callback, and m_callback_param.

◆ setPos()

void CDisplayWindowPlots::setPos ( int  x,
int  y 
)
overridevirtual

Changes the position of the window on the screen.

Implements mrpt::gui::CBaseGUIWindow.

Definition at line 769 of file CDisplayWindowPlots.cpp.

References mrpt::gui::CBaseGUIWindow::isOpen(), mrpt::gui::CBaseGUIWindow::m_caption, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots, mrpt::gui::WxSubsystem::TRequestToWxMainThread::x, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::y.

◆ setWindowTitle()

void CDisplayWindowPlots::setWindowTitle ( const std::string &  str)
overridevirtual

Changes the window title text.

Implements mrpt::gui::CBaseGUIWindow.

Definition at line 796 of file CDisplayWindowPlots.cpp.

References mrpt::gui::CBaseGUIWindow::isOpen(), mrpt::gui::CBaseGUIWindow::m_caption, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::str.

◆ waitForKey()

int CBaseGUIWindow::waitForKey ( bool  ignoreControlKeys = true,
mrptKeyModifier *  out_pushModifier = nullptr 
)
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
ignoreControlKeysIf set to false, any push of shift, cmd, control, etc... will make this method to return.
out_pushModifierIf set to !=nullptr, the modifiers of the key stroke will be saved here.
Returns
The virtual key code, as defined in mrptKeyCode (a replication of wxWidgets key codes).
See also
getPushedKey, Key codes in the enum mrptKeyCode

Definition at line 156 of file CBaseGUIWindow.cpp.

References mrpt::system::os::getch(), mrpt::gui::CBaseGUIWindow::isOpen(), mrpt::system::os::kbhit(), mrpt::gui::CBaseGUIWindow::m_keyPushed, mrpt::gui::CBaseGUIWindow::m_keyPushedCode, mrpt::gui::CBaseGUIWindow::m_keyPushedModifier, and mrpt::gui::MRPTKMOD_NONE.

Friends And Related Function Documentation

◆ CWindowDialogPlots

friend class CWindowDialogPlots
friend

Definition at line 41 of file CDisplayWindowPlots.h.

Member Data Documentation

◆ m_callback

TCallbackMenu mrpt::gui::CDisplayWindowPlots::m_callback
protected

Definition at line 48 of file CDisplayWindowPlots.h.

Referenced by setMenuCallback().

◆ m_callback_param

void* mrpt::gui::CDisplayWindowPlots::m_callback_param
protected

Definition at line 49 of file CDisplayWindowPlots.h.

Referenced by setMenuCallback().

◆ m_caption

std::string mrpt::gui::CBaseGUIWindow::m_caption
protectedinherited

The caption of the window.

Definition at line 62 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CBaseGUIWindow::createWxWindow(), resize(), mrpt::gui::CDisplayWindow3D::resize(), mrpt::gui::CDisplayWindow::resize(), setPos(), mrpt::gui::CDisplayWindow3D::setPos(), mrpt::gui::CDisplayWindow::setPos(), setWindowTitle(), mrpt::gui::CDisplayWindow3D::setWindowTitle(), and mrpt::gui::CDisplayWindow::setWindowTitle().

◆ m_CMD_CREATE_WIN

const int mrpt::gui::CBaseGUIWindow::m_CMD_CREATE_WIN
privateinherited

can be 200,300,400...

See WxSubsystem

Definition at line 50 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CBaseGUIWindow::createWxWindow().

◆ m_CMD_DESTROY_WIN

const int mrpt::gui::CBaseGUIWindow::m_CMD_DESTROY_WIN
privateinherited

can be 299,399,499...

See WxSubsystem

Definition at line 52 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CBaseGUIWindow::destroyWxWindow().

◆ m_holdon

bool mrpt::gui::CDisplayWindowPlots::m_holdon
protected

Whether hold_on is enabled.

Definition at line 44 of file CDisplayWindowPlots.h.

Referenced by hold_off(), hold_on(), image(), internal_plot(), and plotEllipse().

◆ m_holdon_cnt

uint32_t mrpt::gui::CDisplayWindowPlots::m_holdon_cnt
protected

Counter for hold_on.

Definition at line 47 of file CDisplayWindowPlots.h.

Referenced by image(), internal_plot(), and plotEllipse().

◆ m_holdon_just_disabled

bool mrpt::gui::CDisplayWindowPlots::m_holdon_just_disabled
protected

Definition at line 45 of file CDisplayWindowPlots.h.

Referenced by hold_off(), image(), internal_plot(), and plotEllipse().

◆ m_hwnd

mrpt::void_ptr_noncopy mrpt::gui::CBaseGUIWindow::m_hwnd
protectedinherited

The window handle.

Definition at line 64 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CDisplayWindow3D::addTextMessage(), mrpt::gui::CDisplayWindow3D::clearTextMessages(), mrpt::gui::CBaseGUIWindow::createWxWindow(), mrpt::gui::CBaseGUIWindow::destroyWxWindow(), mrpt::gui::CDisplayWindow3D::forceRepaint(), mrpt::gui::CDisplayWindow3D::getCameraAzimuthDeg(), mrpt::gui::CDisplayWindow3D::getCameraElevationDeg(), mrpt::gui::CDisplayWindow3D::getCameraPointingToPoint(), mrpt::gui::CDisplayWindow3D::getCameraZoom(), mrpt::gui::CDisplayWindow3D::getFOV(), mrpt::gui::CDisplayWindow::getLastMousePosition(), getLastMousePosition(), mrpt::gui::CDisplayWindow3D::getLastMousePosition(), mrpt::gui::CBaseGUIWindow::getWxObject(), mrpt::gui::CDisplayWindow3D::isCameraProjective(), mrpt::gui::CBaseGUIWindow::isOpen(), mrpt::gui::CBaseGUIWindow::notifyChildWindowDestruction(), mrpt::gui::CDisplayWindow3D::setCameraAzimuthDeg(), mrpt::gui::CDisplayWindow3D::setCameraElevationDeg(), mrpt::gui::CDisplayWindow3D::setCameraPointingToPoint(), mrpt::gui::CDisplayWindow3D::setCameraProjective(), mrpt::gui::CDisplayWindow3D::setCameraZoom(), mrpt::gui::CDisplayWindow::setCursorCross(), setCursorCross(), mrpt::gui::CDisplayWindow3D::setCursorCross(), mrpt::gui::CDisplayWindow3D::setFOV(), mrpt::gui::CDisplayWindow::showImage(), and mrpt::gui::CDisplayWindow3D::useCameraFromScene().

◆ m_keyPushed

volatile bool mrpt::gui::CBaseGUIWindow::m_keyPushed
protectedinherited

Definition at line 67 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CBaseGUIWindow::clearKeyHitFlag(), mrpt::gui::CBaseGUIWindow::getPushedKey(), mrpt::gui::CBaseGUIWindow::keyHit(), mrpt::gui::CWindowDialog::OnChar(), and mrpt::gui::CBaseGUIWindow::waitForKey().

◆ m_keyPushedCode

volatile int mrpt::gui::CBaseGUIWindow::m_keyPushedCode
protectedinherited

Definition at line 68 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CBaseGUIWindow::getPushedKey(), mrpt::gui::CWindowDialog::OnChar(), and mrpt::gui::CBaseGUIWindow::waitForKey().

◆ m_keyPushedModifier

volatile mrptKeyModifier mrpt::gui::CBaseGUIWindow::m_keyPushedModifier
protectedinherited

Definition at line 69 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CBaseGUIWindow::getPushedKey(), mrpt::gui::CWindowDialog::OnChar(), and mrpt::gui::CBaseGUIWindow::waitForKey().

◆ m_subscribers

std::set<CObserver*> mrpt::system::CObservable::m_subscribers
privateinherited

Definition at line 42 of file CObservable.h.

Referenced by mrpt::system::CObservable::hasSubscribers().

◆ m_threadReady

std::promise<void> mrpt::gui::CBaseGUIWindow::m_threadReady
mutableprotectedinherited

This semaphore will be signaled when the wx window is built and ready.

Definition at line 58 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CBaseGUIWindow::createWxWindow(), and mrpt::gui::CBaseGUIWindow::notifySemThreadReady().

◆ m_windowDestroyed

std::promise<void> mrpt::gui::CBaseGUIWindow::m_windowDestroyed
mutableprotectedinherited

This semaphore will be signaled when the wx window is destroyed.

Definition at line 60 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CBaseGUIWindow::destroyWxWindow(), mrpt::gui::CWindowDialog::OnClose(), and mrpt::gui::C3DWindowDialog::OnClose().

◆ m_winobj_voidptr

void* mrpt::gui::CBaseGUIWindow::m_winobj_voidptr
privateinherited

Definition at line 53 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CBaseGUIWindow::createWxWindow(), and mrpt::gui::CBaseGUIWindow::destroyWxWindow().



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