test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://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 (const std::exception& e)
    {
        std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
        return -1;
    }
    catch (...)
    {
        printf("Untyped exception!!");
        return -1;
    }
}