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/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Example of sequential calls to QP solver
*
*****************************************************************************/
/*!
\file qp_plot.h
\brief Include to plot solver time
*/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpTime.h>
#include <visp3/gui/vpPlot.h>
#ifndef DOXYGEN_SHOULD_SKIP_THIS
vpMatrix randM(int n, int m)
{
vpMatrix M(n, m);
for (int i = 0; i < n; ++i)
for (int j = 0; j < m; ++j)
M[i][j] = (2. * rand()) / RAND_MAX - 1;
return M;
}
vpColVector randV(int n)
{
vpColVector M(n);
for (int i = 0; i < n; ++i)
M[i] = (2. * rand()) / RAND_MAX - 1;
return M;
}
#ifdef VISP_HAVE_DISPLAY
class QPlot
{
public:
virtual ~QPlot() { delete P; }
QPlot(int graphNum, int total, std::vector<std::string> legend)
{
P = new vpPlot(graphNum, 700, 700, 100, 200, "Resolution time");
for (int i = 0; i < graphNum; ++i) {
P->initGraph(i, 2);
P->setColor(i, 0, vpColor::red);
P->setColor(i, 1, vpColor::blue);
P->setGraphThickness(i, 2);
P->initRange(i, 0, total, 0, 0.1);
P->setUnitY(i, "ms");
P->setTitle(i, legend[2 * i]);
P->setLegend(i, 0, "without " + legend[2 * i + 1]);
P->setLegend(i, 1, legend[2 * i + 1]);
}
}
void plot(int g, int c, int i, double t) { P->plot(g, c, i, vpTime::measureTimeMs() - t); }
void wait() { P->I.display->getClick(); }
vpPlot *P;
private:
// Copy constructor not allowed.
QPlot(const QPlot &qplot);
};
#else
class VISP_EXPORT QPPlot
{
public:
QPPlot(int, int, std::vector<std::string>) { }
void plot(int, int, int, double) { }
void wait() { }
};
#endif
#endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
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