test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include <mrpt/gui/CDisplayWindowPlots.h>
#include <mrpt/math/distributions.h>
#include <mrpt/system/os.h>
#include <iostream>
 
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::math;
using namespace std;
 
void myOnMenu(int menuID, float x, float y, void* param)
{
        cout << "Menu: " << menuID << endl << " x=" << x << " y=" << y << endl;
}
 
// ------------------------------------------------------
//                              TestDisplayPlots
// ------------------------------------------------------
void TestDisplayPlots()
{
        CDisplayWindowPlots win("Example of function plot", 400, 300);
 
        win.enableMousePanZoom(true);
        win.addPopupMenuEntry("Mark this point...", 1);
        win.setMenuCallback(myOnMenu);
 
        // Generate data for a 2D plot:
        CVectorDouble X, Y;
        for (double x = 0; x < 5; x += 0.01f)
        {
                double y = math::normalPDF(x, 2, 0.3);
                X.push_back(x);
                Y.push_back(y);
        }
 
        win.plot(X, Y, "r-3");
        win.axis_equal(false);
        win.axis_fit();
 
        win.setPos(10, 10);
        // -----------
        CDisplayWindowPlots win2("Example of plot update", 400, 300);
 
        win2.enableMousePanZoom(true);
 
        // Add an unnamed & a named ellipse:
        float mean_x = 5;
        float mean_y = 0;
        CMatrixFloat ellipse_cov(2, 2);
        ellipse_cov(0, 0) = 1.0f;
        ellipse_cov(1, 1) = 1.0f;
        ellipse_cov(0, 1) = ellipse_cov(1, 0) = 0.5f;
 
        win2.plotEllipse(1.0f, 2.0f, ellipse_cov, 3, "k-2");
        win2.plotEllipse(mean_x, mean_y, ellipse_cov, 3, "b-2", "my_ellipse");
 
        win2.axis(-10, 10, -10, 10);
        win2.axis_equal(true);
 
        win2.setPos(450, 10);
 
        cout << "Press any key to exit..." << endl;
        // win.waitForKey();
 
        float t = 0;
        ellipse_cov(0, 1) = ellipse_cov(1, 0) = -0.9f;
        while (!mrpt::system::os::kbhit() && win.isOpen() && win2.isOpen() &&
                   !win.keyHit() && !win2.keyHit())
        {
                t += 0.05f;
                mean_x = cos(t) * 5;
                mean_y = sin(t) * 5;
                win2.plotEllipse(mean_x, mean_y, ellipse_cov, 3, "b-2", "my_ellipse");
 
                std::this_thread::sleep_for(50ms);
        }
}
 
// ------------------------------------------------------
//                                              MAIN
// ------------------------------------------------------
int main()
{
        try
        {
                TestDisplayPlots();
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Untyped exception!!");
                return -1;
        }
}