Visualization

Classes
class	roboptim::visualization::gnuplot::Command
	Gnuplot command. More...
class	roboptim::visualization::Gnuplot
	Gnuplot script. More...
class	roboptim::visualization::matplotlib::Import
	matplotlib import. More...
struct	roboptim::visualization::matplotlib::MatrixPlotType
	Wrap enum for matrix plotting type. More...
class	roboptim::visualization::Matplotlib
	matplotlib script More...

Typedefs
typedef Function::discreteInterval_t	roboptim::visualization::gnuplot::discreteInterval_t
	Import discrete interval type from function. More...
typedef Function::discreteInterval_t	roboptim::visualization::matplotlib::discreteInterval_t
	Import discrete interval type from function. More...

Functions
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::gnuplot::comment (const char *)
	Make a Gnuplot comment. More...
template<typename T >
Command	roboptim::visualization::gnuplot::comment (const T &content)
	Make a Gnuplot comment. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::gnuplot::set (const char *var, const char *val="")
	Make a Gnuplot set command. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::gnuplot::unset (const char *var)
	Make a Gnuplot unset command. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::gnuplot::show (const char *var)
	Make a Gnuplot show command. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::gnuplot::clear ()
	Make a Gnuplot clear command. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::gnuplot::pwd ()
	Make a Gnuplot pwdcommand. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::gnuplot::quit ()
	Make a Gnuplot quit command. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::gnuplot::replot ()
	Make a Gnuplot replot command. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::gnuplot::reread ()
	Make a Gnuplot reread command. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::gnuplot::reset ()
	Make a Gnuplot reset command. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::gnuplot::cd (const char *dir)
	Make a Gnuplot cd command. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::gnuplot::help (const char *topic="")
	Make a Gnuplot help command. More...
template<typename T >
Command	roboptim::visualization::gnuplot::plot_jac (const GenericDifferentiableFunction< T > &f, typename GenericDifferentiableFunction< T >::const_argument_ref arg)
	Plot the Jacobian structure with Gnuplot. More...
template<>
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::gnuplot::plot_jac (const DifferentiableFunction &f, DifferentiableFunction::const_argument_ref arg)
template<>
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::gnuplot::plot_jac (const DifferentiableSparseFunction &f, DifferentiableSparseFunction::const_argument_ref arg)
template<typename T >
Command	roboptim::visualization::gnuplot::plot (const GenericFunction< T > &f, discreteInterval_t interval)
	Plot a 1D function with Gnuplot. More...
template<typename T >
Command	roboptim::visualization::gnuplot::plot_xy (const GenericFunction< T > &f, discreteInterval_t interval)
	Plot a 2D function with Gnuplot. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::gnuplot::plot_mat (GenericFunctionTraits< EigenMatrixDense >::const_matrix_ref mat)
	Plot the structure of a matrix with Gnuplot. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::gnuplot::plot_mat (GenericFunctionTraits< EigenMatrixSparse >::const_matrix_ref mat)
template<typename T >
Gnuplot &	roboptim::visualization::operator<< (Gnuplot &gp, T t)
	Override operator<< to handle Gnuplot command insertion. More...
ROBOPTIM_CORE_DLLAPI Import	roboptim::visualization::matplotlib::import (const std::string &packages)
	Import function that follows the style of commands. More...
ROBOPTIM_CORE_DLLAPI Import	roboptim::visualization::matplotlib::import (const std::string &from, const std::string &packages)
	Import function that follows the style of commands. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::matplotlib::comment (const char *)
	Make a matplotlib comment. More...
template<typename T >
Command	roboptim::visualization::matplotlib::comment (const T &content)
	Make a matplotlib comment. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::matplotlib::set (const char *var, const char *val)
	Make a matplotlib set command. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::matplotlib::show ()
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::matplotlib::figure ()
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::matplotlib::title (const char *argument)
template<typename T >
Command	roboptim::visualization::matplotlib::plot (const GenericFunction< T > &f, discreteInterval_t interval)
	Plot a 1D function with matplotlib. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::matplotlib::plot_mat (GenericFunctionTraits< EigenMatrixDense >::const_matrix_ref mat, MatrixPlotType::Type type=MatrixPlotType::Values)
	Plot the structure of a matrix with matplotlib. More...
ROBOPTIM_CORE_DLLAPI Command	roboptim::visualization::matplotlib::plot_mat (GenericFunctionTraits< EigenMatrixSparse >::const_matrix_ref mat, MatrixPlotType::Type type=MatrixPlotType::Values)
template<typename T >
Command	roboptim::visualization::matplotlib::plot_mat (typename GenericFunctionTraits< T >::const_matrix_ref, MatrixPlotType::Type=MatrixPlotType::Values)
template<typename T >
Matplotlib &	roboptim::visualization::operator<< (Matplotlib &ml, T t)
	Override operator<< to handle matplotlib command insertion. More...

Variables
template<typename T >
Command	roboptim::visualization::gnuplot::plot_mat (typename GenericFunctionTraits< T >::const_matrix_ref)

Detailed Description

Typedef Documentation

typedef Function::discreteInterval_t roboptim::visualization::gnuplot::discreteInterval_t

Import discrete interval type from function.

typedef Function::discreteInterval_t roboptim::visualization::matplotlib::discreteInterval_t

Import discrete interval type from function.

Function Documentation

ROBOPTIM_CORE_DLLAPI Command roboptim::visualization::gnuplot::cd

(

const char *

dir

)

Make a Gnuplot cd command.

Make a Gnuplot cd command (change current directory).

Parameters

dir	new directory

Returns

Gnuplot command

Examples:

visualization-gnuplot-simple.cc.

ROBOPTIM_CORE_DLLAPI Command roboptim::visualization::gnuplot::clear

(

)

Make a Gnuplot clear command.

Make a Gnuplot clear command (clear the screen).

Returns

Gnuplot command

Examples:

visualization-gnuplot-simple.cc.

Command roboptim::visualization::gnuplot::comment

(

const char *

content

)

Make a Gnuplot comment.

Exceptions

std::runtime_error

Examples:

visualization-gnuplot-function.cc, visualization-gnuplot-simple.cc, visualization-matplotlib-function.cc, and visualization-matplotlib-simple.cc.

Referenced by roboptim::visualization::gnuplot::comment(), and roboptim::visualization::Gnuplot::Gnuplot().

template<typename T >

Command roboptim::visualization::gnuplot::comment ( const T &  content )

inline

Make a Gnuplot comment.

Exceptions

std::runtime_error

References roboptim::visualization::gnuplot::comment().

Command roboptim::visualization::matplotlib::comment

(

const char *

content

)

Make a matplotlib comment.

Exceptions

std::runtime_error

Referenced by roboptim::visualization::matplotlib::comment().

template<typename T >

Command roboptim::visualization::matplotlib::comment ( const T &  content )

inline

Make a matplotlib comment.

Exceptions

std::runtime_error

References roboptim::visualization::matplotlib::comment().

ROBOPTIM_CORE_DLLAPI Command roboptim::visualization::matplotlib::figure

(

)

Examples:

visualization-matplotlib-simple.cc.

ROBOPTIM_CORE_DLLAPI Command roboptim::visualization::gnuplot::help

(

const char *

topic = ""

)

Make a Gnuplot help command.

Make a Gnuplot help command (display Gnuplot help).

Parameters

topic

help topic

Returns

Gnuplot command

Examples:

visualization-gnuplot-simple.cc.

Import roboptim::visualization::matplotlib::import

(

const std::string &

packages

)

Import function that follows the style of commands.

Import roboptim::visualization::matplotlib::import	(	const std::string &	from,
		const std::string &	packages
	)

Import function that follows the style of commands.

template<typename T >

Gnuplot& roboptim::visualization::operator<<	(	Gnuplot &	gp,
		T	t
	)

Override operator<< to handle Gnuplot command insertion.

Template Parameters

Gnuplot

command type

Parameters

gp	Gnuplot script that will receive the new command
t	new Gnuplot command.

Returns

modified Gnuplot script

References roboptim::visualization::Gnuplot::push_command().

template<typename T >

Matplotlib& roboptim::visualization::operator<<	(	Matplotlib &	ml,
		T	t
	)

Override operator<< to handle matplotlib command insertion.

Template Parameters

Matplotlib

command type

Parameters

gp	matplotlib script that will receive the new command
t	new matplotlib command.

Returns

modified matplotlib script

References roboptim::visualization::Matplotlib::push_command().

template<typename T >

Command roboptim::visualization::gnuplot::plot	(	const GenericFunction< T > &	f,
		discreteInterval_t	interval
	)

Plot a 1D function with Gnuplot.

Plot a 1D function in Gnuplot on a specific interval. X axis is the function's argument, Y axis is result.

Parameters

f	function to be plotted
interval	plot interval

Returns

Gnuplot command

Examples:

visualization-gnuplot-function.cc, and visualization-matplotlib-function.cc.

References roboptim::GenericFunction< T >::getName(), roboptim::GenericFunction< T >::inputSize(), roboptim::normalize(), and roboptim::GenericFunction< T >::outputSize().

template<typename T >

Command roboptim::visualization::matplotlib::plot	(	const GenericFunction< T > &	f,
		discreteInterval_t	interval
	)

Plot a 1D function with matplotlib.

Plot a 1D function in matplotlib on a specific interval. X axis is the function's argument, Y axis is result.

Parameters

f	function to be plotted
interval	plot interval

Returns

matplotlib command

References roboptim::GenericFunction< T >::getName(), roboptim::GenericFunction< T >::inputSize(), roboptim::normalize(), and roboptim::GenericFunction< T >::outputSize().

template<typename T >

Command roboptim::visualization::gnuplot::plot_jac	(	const GenericDifferentiableFunction< T > &	f,
		typename GenericDifferentiableFunction< T >::const_argument_ref	arg
	)

Plot the Jacobian structure with Gnuplot.

Plot the structure of the Jacobian of a differentiable function with Gnuplot. Nonzero values will be displayed in blue, zeros in white.

When dealing with a dense matrix, the actual values are printed and exact zeros will be displayed in white.

When dealing with a sparse matrix, inserted zeros will also be treated as nonzero values, thus returning the real structure of the sparse Jacobian matrix. In this case, the values returned are 1 for sparse elements, and 0 for actual zeros.

Parameters

f	differentiable function whose Jacobian will be plotted
arg	optimization parameters of the point to plot. This parameter is not relevant when dealing with sparse functions, since it should not change the Jacobian's sparse structure.

Returns

Gnuplot command

template<>

ROBOPTIM_CORE_DLLAPI Command roboptim::visualization::gnuplot::plot_jac	(	const DifferentiableFunction &	f,
		DifferentiableFunction::const_argument_ref	arg
	)

References roboptim::visualization::gnuplot::detail::dense_jacobian_to_gnuplot(), roboptim::GenericFunction< T >::getName(), and roboptim::GenericDifferentiableFunction< T >::jacobian().

template<>

ROBOPTIM_CORE_DLLAPI Command roboptim::visualization::gnuplot::plot_jac	(	const DifferentiableSparseFunction &	f,
		DifferentiableSparseFunction::const_argument_ref	arg
	)

References roboptim::GenericFunction< T >::getName(), roboptim::GenericDifferentiableFunction< T >::jacobian(), and roboptim::visualization::gnuplot::detail::sparse_jacobian_to_gnuplot().

ROBOPTIM_CORE_DLLAPI Command roboptim::visualization::gnuplot::plot_mat

(

GenericFunctionTraits< EigenMatrixDense >::const_matrix_ref

mat

)

Plot the structure of a matrix with Gnuplot.

Plot the structure of a matrix with Gnuplot. Nonzero values will be displayed in blue, zeros in white.

When dealing with a dense matrix, the actual values are printed and exact zeros will be displayed in white.

When dealing with a sparse matrix, inserted zeros will also be treated as nonzero values, thus returning the real structure of the sparse matrix. In this case, the values returned are 1 for sparse elements, and 0 for actual zeros.

Parameters

mat	matrix to plot.

Returns

Gnuplot command.

ROBOPTIM_CORE_DLLAPI Command roboptim::visualization::gnuplot::plot_mat

(

GenericFunctionTraits< EigenMatrixSparse >::const_matrix_ref

mat

)

Command roboptim::visualization::matplotlib::plot_mat	(	GenericFunctionTraits< EigenMatrixDense >::const_matrix_ref	mat,
		MatrixPlotType::Type	type = MatrixPlotType::Values
	)

Plot the structure of a matrix with matplotlib.

Plot the structure of a matrix with matplotlib. Nonzero values will be displayed in blue, zeros in white.

When dealing with a dense matrix, the actual values are printed and exact zeros will be displayed in white.

When dealing with a sparse matrix, inserted zeros will also be treated as nonzero values, thus returning the real structure of the sparse matrix. In this case, the values returned are 1 for sparse elements, and 0 for actual zeros.

Parameters

mat	matrix to plot.
type	type of plotting for the matrix.

Returns

Gnuplot command.

References roboptim::visualization::matplotlib::detail::dense_matrix_to_matplotlib().

Command roboptim::visualization::matplotlib::plot_mat	(	GenericFunctionTraits< EigenMatrixSparse >::const_matrix_ref	mat,
		MatrixPlotType::Type	type = MatrixPlotType::Values
	)

References roboptim::visualization::matplotlib::detail::sparse_matrix_to_matplotlib().

template<typename T >

Command roboptim::visualization::matplotlib::plot_mat	(	typename GenericFunctionTraits< T >::const_matrix_ref	,
		MatrixPlotType::Type	= MatrixPlotType::Values
	)

template<typename T >

Command roboptim::visualization::gnuplot::plot_xy	(	const GenericFunction< T > &	f,
		discreteInterval_t	interval
	)

Plot a 2D function with Gnuplot.

Plot a 2D function in Gnuplot on a specific interval. X and Y axises are the function result, the original arguments are not displayed.

Parameters

f	function to be plotted
interval	plot interval

Returns

Gnuplot command

Examples:

visualization-gnuplot-function.cc.

References roboptim::GenericFunction< T >::getName(), roboptim::GenericFunction< T >::inputSize(), roboptim::normalize(), and roboptim::GenericFunction< T >::outputSize().

ROBOPTIM_CORE_DLLAPI Command roboptim::visualization::gnuplot::pwd

(

)

Make a Gnuplot pwdcommand.

Make a Gnuplot pwd command (show the current directory).

Returns

Gnuplot command

Examples:

visualization-gnuplot-simple.cc.

ROBOPTIM_CORE_DLLAPI Command roboptim::visualization::gnuplot::quit

(

)

Make a Gnuplot quit command.

Make a Gnuplot quit command (quit Gnuplot).

Returns

Gnuplot command

Examples:

visualization-gnuplot-simple.cc.

ROBOPTIM_CORE_DLLAPI Command roboptim::visualization::gnuplot::replot

(

)

Make a Gnuplot replot command.

Make a Gnuplot replot command (redraw previously defined curves).

Returns

Gnuplot command

Examples:

visualization-gnuplot-simple.cc.

ROBOPTIM_CORE_DLLAPI Command roboptim::visualization::gnuplot::reread

(

)

Make a Gnuplot reread command.

Make a Gnuplot reread command (reread data files).

Returns

Gnuplot command

Examples:

visualization-gnuplot-simple.cc.

ROBOPTIM_CORE_DLLAPI Command roboptim::visualization::gnuplot::reset

(

)

Make a Gnuplot reset command.

Make a Gnuplot replot command (reset Gnuplot state).

Returns

Gnuplot command

Command roboptim::visualization::gnuplot::set	(	const char *	var,
		const char *	val = ""
	)

Make a Gnuplot set command.

Make a Gnuplot set command (assign a new value to a variable in Gnuplot).

Parameters

var	variable that will be set
val	new variable value

Returns

Gnuplot command

Referenced by roboptim::visualization::Gnuplot::make_interactive_gnuplot().

Command roboptim::visualization::matplotlib::set	(	const char *	var,
		const char *	val
	)

Make a matplotlib set command.

Make a matplotlib set command (assign a new value to a variable in matplotlib).

Parameters

var	variable that will be set
val	new variable value

Returns

matplotlib command

Command roboptim::visualization::gnuplot::show

(

const char *

var

)

Make a Gnuplot show command.

Make a Gnuplot show command (show a variable value).

Parameters

var	variable that will be shown

Returns

Gnuplot command

Examples:

visualization-gnuplot-simple.cc, and visualization-matplotlib-simple.cc.

ROBOPTIM_CORE_DLLAPI Command roboptim::visualization::matplotlib::show

(

)

ROBOPTIM_CORE_DLLAPI Command roboptim::visualization::matplotlib::title

(

const char *

argument

)

Command roboptim::visualization::gnuplot::unset

(

const char *

var

)

Make a Gnuplot unset command.

Make a Gnuplot unset command (destroy a variable).

Parameters

var	variable that will be unset

Returns

Gnuplot command

Examples:

visualization-gnuplot-function.cc.

Variable Documentation

template<typename T >

Command roboptim::visualization::gnuplot::plot_mat

Referenced by roboptim::visualization::gnuplot::detail::dense_jacobian_to_gnuplot(), and roboptim::visualization::gnuplot::detail::sparse_jacobian_to_gnuplot().