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// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
//
// This file is part of the roboptim.
//
// roboptim is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// roboptim is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
#ifndef ROBOPTIM_CORE_VISUALIZATION_GNUPLOT_FUNCTION_HH
# define ROBOPTIM_CORE_VISUALIZATION_GNUPLOT_FUNCTION_HH
# include <roboptim/core/sys.hh>
# include <roboptim/core/debug.hh>
# include <boost/format.hpp>
# include <roboptim/core/function.hh>
namespace roboptim
{
namespace visualization
{
namespace gnuplot
{
/// \addtogroup roboptim_visualization
/// @{
/// \brief Import discrete interval type from function.
typedef Function::discreteInterval_t discreteInterval_t;
/// \brief 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.
/// \param f function to be plotted
/// \param interval plot interval
/// \return Gnuplot command
template <typename T>
Command plot (const GenericFunction<T>& f, discreteInterval_t interval);
/// \brief 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.
/// \param f function to be plotted
/// \param interval plot interval
/// \return Gnuplot command
template <typename T>
Command plot_xy (const GenericFunction<T>& f, discreteInterval_t interval);
template <typename T>
Command plot (const GenericFunction<T>& f, discreteInterval_t window)
{
assert (f.inputSize () == 1);
assert (boost::get<0> (window) < boost::get<1> (window)
&& boost::get<2> (window) > 0.);
//FIXME: compare with arg bounds?
std::string str = (boost::format ("plot '-' title '%1%' with line")
% f.getName ()).str ();
for (Function::size_type i = 1; i < f.outputSize (); ++i)
str += ", '-' with line";
str += "\n";
Function::vector_t x (f.inputSize ());
for (Function::size_type i = 0; i < f.outputSize (); ++i)
{
for (double t = boost::get<0> (window); t < boost::get<1> (window);
t += boost::get<2> (window))
{
x[0] = t;
Function::vector_t res = f (x);
str += (boost::format ("%1.2f %2.2f\n")
% normalize (t)
% normalize (res [0])).str ();
}
str += "e\n";
}
return Command (str);
}
template <typename T>
Command plot_xy (const GenericFunction<T>& f, discreteInterval_t window)
{
assert (f.inputSize () == 1 && f.outputSize () == 2);
assert (boost::get<0> (window) < boost::get<1> (window)
&& boost::get<2> (window) > 0.);
//FIXME: compare with arg bounds?
std::string str = (boost::format ("plot '-' title '%1%' with line\n")
% f.getName ()).str ();
Function::vector_t x (f.inputSize ());
for (double t = boost::get<0> (window); t < boost::get<1> (window);
t += boost::get<2> (window))
{
x[0] = t;
Function::vector_t res = f (x);
str += (boost::format ("%1.2f %2.2f\n")
% normalize (res[0])
% normalize (res [1])).str ();
}
str += "e\n";
return Command (str);
}
/// @}
} // end of namespace gnuplot.
} // end of namespace visualization.
} // end of namespace roboptim.
#endif //! ROBOPTIM_CORE_VISUALIZATION_GNUPLOT_FUNCTION_HH
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