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...
class  roboptim::visualization::Matplotlib
 matplotlib script More...

Typedefs

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.

Functions

ROBOPTIM_DLLAPI Command roboptim::visualization::gnuplot::comment (const char *)
 Make a Gnuplot comment.
template<typename T >
Command roboptim::visualization::gnuplot::comment (const T &content)
 Make a Gnuplot comment.
ROBOPTIM_DLLAPI Command roboptim::visualization::gnuplot::set (const char *var, const char *val="")
 Make a Gnuplot set command.
ROBOPTIM_DLLAPI Command roboptim::visualization::gnuplot::unset (const char *var)
 Make a Gnuplot unset command.
ROBOPTIM_DLLAPI Command roboptim::visualization::gnuplot::show (const char *var)
 Make a Gnuplot show command.
ROBOPTIM_DLLAPI Command roboptim::visualization::gnuplot::clear ()
 Make a Gnuplot clear command.
ROBOPTIM_DLLAPI Command roboptim::visualization::gnuplot::pwd ()
 Make a Gnuplot pwdcommand.
ROBOPTIM_DLLAPI Command roboptim::visualization::gnuplot::quit ()
 Make a Gnuplot quit command.
ROBOPTIM_DLLAPI Command roboptim::visualization::gnuplot::replot ()
 Make a Gnuplot replot command.
ROBOPTIM_DLLAPI Command roboptim::visualization::gnuplot::reread ()
 Make a Gnuplot reread command.
ROBOPTIM_DLLAPI Command roboptim::visualization::gnuplot::reset ()
 Make a Gnuplot reset command.
ROBOPTIM_DLLAPI Command roboptim::visualization::gnuplot::cd (const char *dir)
 Make a Gnuplot cd command.
ROBOPTIM_DLLAPI Command roboptim::visualization::gnuplot::help (const char *topic="")
 Make a Gnuplot help command.
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.
template<>
ROBOPTIM_DLLAPI Command roboptim::visualization::gnuplot::plot_jac (const DifferentiableFunction &f, DifferentiableFunction::const_argument_ref arg)
template<>
ROBOPTIM_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.
template<typename T >
Command roboptim::visualization::gnuplot::plot_xy (const GenericFunction< T > &f, discreteInterval_t interval)
 Plot a 2D function with Gnuplot.
ROBOPTIM_DLLAPI Command roboptim::visualization::gnuplot::plot_mat (GenericFunctionTraits< EigenMatrixDense >::const_matrix_ref mat)
 Plot the structure of a matrix with Gnuplot.
ROBOPTIM_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.
ROBOPTIM_DLLAPI Import roboptim::visualization::matplotlib::import (const std::string &packages)
 Import function that follows the style of commands.
ROBOPTIM_DLLAPI Import roboptim::visualization::matplotlib::import (const std::string &from, const std::string &packages)
 Import function that follows the style of commands.
ROBOPTIM_DLLAPI Command roboptim::visualization::matplotlib::show ()
ROBOPTIM_DLLAPI Command roboptim::visualization::matplotlib::figure ()
template<typename T >
Matplotlib & roboptim::visualization::operator<< (Matplotlib &ml, T t)
 Override operator<< to handle matplotlib command insertion.
double roboptim::visualization::normalize (const double &x)
 Normalize floating point number output.
Function::matrix_t roboptim::visualization::normalize (Function::const_matrix_ref x)
 Apply normalize to each element of a matrix.
template<typename T >
roboptim::visualization::normalize (const T &x)
 Apply normalize to each element of a container.
Command roboptim::visualization::matplotlib::comment (const char *content)
 Make a matplotlib comment.
Command roboptim::visualization::matplotlib::set (const char *var, const char *value)
 Make a matplotlib set command.

Variables

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

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

Make a Gnuplot cd command.

Make a Gnuplot cd command (change current directory).

Parameters:
dirnew directory
Returns:
Gnuplot command
Examples:
visualization-gnuplot-simple.cc.

Make a Gnuplot clear command.

Make a Gnuplot clear command (clear the screen).

Returns:
Gnuplot command
Examples:
visualization-gnuplot-simple.cc.
template<typename T >
Command roboptim::visualization::gnuplot::comment ( const T &  content) [inline]

Make a Gnuplot comment.

Make a matplotlib comment.

Exceptions:
std::runtime_error

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

Make a matplotlib comment.

Exceptions:
std::runtime_error
ROBOPTIM_DLLAPI Command roboptim::visualization::gnuplot::help ( const char *  topic = "")

Make a Gnuplot help command.

Make a Gnuplot help command (display Gnuplot help).

Parameters:
topichelp 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.

double roboptim::visualization::normalize ( const double &  x) [inline]

Normalize floating point number output.

Normalization is done on all displayed floating point numbers to get a consistent output.

Referenced by roboptim::visualization::gnuplot::detail::dense_matrix_to_gnuplot(), roboptim::visualization::normalize(), roboptim::visualization::gnuplot::plot(), and roboptim::visualization::gnuplot::plot_xy().

Function::matrix_t roboptim::visualization::normalize ( Function::const_matrix_ref  x) [inline]

Apply normalize to each element of a matrix.

References roboptim::visualization::normalize().

template<typename T >
T roboptim::visualization::normalize ( const T &  x)

Apply normalize to each element of a container.

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

Override operator<< to handle Gnuplot command insertion.

Template Parameters:
Gnuplotcommand type
Parameters:
gpGnuplot script that will receive the new command
tnew Gnuplot command.
Returns:
modified Gnuplot script

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

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

Override operator<< to handle matplotlib command insertion.

Template Parameters:
Matplotlibcommand type
Parameters:
gpmatplotlib script that will receive the new command
tnew 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 with matplotlib.

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

Parameters:
ffunction to be plotted
intervalplot interval
Returns:
Gnuplot command

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

Parameters:
ffunction to be plotted
intervalplot interval
Returns:
matplotlib command
Examples:
finite-difference-gradient.cc, visualization-gnuplot-function.cc, and visualization-matplotlib-function.cc.

References roboptim::GenericFunction< T >::getName(), roboptim::GenericFunction< T >::inputSize(), roboptim::visualization::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:
fdifferentiable function whose Jacobian will be plotted
argoptimization 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<>
Command roboptim::visualization::gnuplot::plot_jac ( const DifferentiableSparseFunction &  f,
DifferentiableSparseFunction::const_argument_ref  arg 
)
ROBOPTIM_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:
matmatrix to plot.
Returns:
Gnuplot command.
ROBOPTIM_DLLAPI Command roboptim::visualization::gnuplot::plot_mat ( GenericFunctionTraits< EigenMatrixSparse >::const_matrix_ref  mat)
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:
ffunction to be plotted
intervalplot interval
Returns:
Gnuplot command
Examples:
visualization-gnuplot-function.cc.

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

Make a Gnuplot pwdcommand.

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

Returns:
Gnuplot command
Examples:
visualization-gnuplot-simple.cc.

Make a Gnuplot quit command.

Make a Gnuplot quit command (quit Gnuplot).

Returns:
Gnuplot command
Examples:
visualization-gnuplot-simple.cc.

Make a Gnuplot replot command.

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

Returns:
Gnuplot command
Examples:
visualization-gnuplot-simple.cc.

Make a Gnuplot reread command.

Make a Gnuplot reread command (reread data files).

Returns:
Gnuplot command
Examples:
visualization-gnuplot-simple.cc.

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 matplotlib set command.

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

Parameters:
varvariable that will be set
valnew variable value
Returns:
Gnuplot command

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

Parameters:
varvariable that will be set
valnew variable value
Returns:
matplotlib command

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

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

Make a matplotlib set command.

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

Parameters:
varvariable that will be set
valnew 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:
varvariable that will be shown
Returns:
Gnuplot command
Examples:
visualization-gnuplot-simple.cc, and visualization-matplotlib-simple.cc.
Command roboptim::visualization::gnuplot::unset ( const char *  var)

Make a Gnuplot unset command.

Make a Gnuplot unset command (destroy a variable).

Parameters:
varvariable that will be unset
Returns:
Gnuplot command
Examples:
finite-difference-gradient.cc, and visualization-gnuplot-function.cc.

Variable Documentation

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