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 >
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

ROBOPTIM_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_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.

Make a matplotlib 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.

Make a matplotlib comment.

Exceptions:

std::runtime_error

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

ROBOPTIM_DLLAPI Command roboptim::visualization::matplotlib::comment

(

const char *

content

)

Make a matplotlib comment.

Exceptions:

std::runtime_error

ROBOPTIM_DLLAPI Command roboptim::visualization::matplotlib::figure

(

)

Examples:

visualization-matplotlib-simple.cc.

ROBOPTIM_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.

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	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 with matplotlib.

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

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

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:

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<>

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<>

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_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_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:

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

ROBOPTIM_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_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_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_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_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 matplotlib 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

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

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:

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_DLLAPI Command roboptim::visualization::matplotlib::show

(

)

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:

finite-difference-gradient.cc, and visualization-gnuplot-function.cc.

---

Variable Documentation

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().