Main MRPT website > C++ reference for MRPT 1.3.2
List of all members | Public Member Functions | Protected Member Functions | Protected Attributes
mpCovarianceEllipse Class Reference

Detailed Description

A 2D ellipse, described by a 2x2 covariance matrix.

The relation between the multivariate Gaussian confidence interval and the "quantiles" in this class is:

The ellipse will be always centered at the origin. Use mpMovableObject::SetCoordinateBase to move it.

Definition at line 1549 of file mathplot.h.

#include <mrpt/otherlibs/mathplot/mathplot.h>

Inheritance diagram for mpCovarianceEllipse:
Inheritance graph

Public Member Functions

 mpCovarianceEllipse (double cov_00=1, double cov_11=1, double cov_01=0, double quantiles=2, int segments=32, const wxString &layerName=wxT(""))
 Default constructor. More...
 
virtual ~mpCovarianceEllipse ()
 
double GetQuantiles () const
 
void SetQuantiles (double q)
 Set how many "quantiles" to draw, that is, the confidence interval of the ellipse (see above). More...
 
void SetSegments (int segments)
 
int GetSegments () const
 
void GetCovarianceMatrix (double &cov_00, double &cov_01, double &cov_11) const
 Returns the elements of the current covariance matrix: More...
 
void SetCovarianceMatrix (double cov_00, double cov_01, double cov_11)
 Changes the covariance matrix: More...
 
void GetCoordinateBase (double &x, double &y, double &phi) const
 Get the current coordinate transformation. More...
 
void SetCoordinateBase (double x, double y, double phi=0)
 Set the coordinate transformation (phi in radians, 0 means no rotation). More...
 
virtual bool HasBBox ()
 Check whether this layer has a bounding box. More...
 
virtual double GetMinX ()
 Get inclusive left border of bounding box. More...
 
virtual double GetMaxX ()
 Get inclusive right border of bounding box. More...
 
virtual double GetMinY ()
 Get inclusive bottom border of bounding box. More...
 
virtual double GetMaxY ()
 Get inclusive top border of bounding box. More...
 
virtual void Plot (wxDC &dc, mpWindow &w)
 Plot given view of layer to the given device context. More...
 
void SetAlign (int align)
 Set label axis alignment. More...
 
virtual bool IsInfo ()
 Check whether the layer is an info box. More...
 
wxString GetName () const
 Get layer name. More...
 
const wxFont & GetFont () const
 Get font set for this layer. More...
 
const wxPen & GetPen () const
 Get pen set for this layer. More...
 
void SetContinuity (bool continuity)
 Set the 'continuity' property of the layer (true:draws a continuous line, false:draws separate points). More...
 
bool GetContinuity () const
 Gets the 'continuity' property of the layer. More...
 
void ShowName (bool show)
 Shows or hides the text label with the name of the layer (default is visible). More...
 
void SetName (wxString name)
 Set layer name. More...
 
void SetFont (wxFont &font)
 Set layer font. More...
 
void SetPen (wxPen pen)
 Set layer pen. More...
 
void SetDrawOutsideMargins (bool drawModeOutside)
 Set Draw mode: inside or outside margins. More...
 
bool GetDrawOutsideMargins ()
 Get Draw mode: inside or outside margins. More...
 
wxBitmap GetColourSquare (int side=16)
 Get a small square bitmap filled with the colour of the pen used in the layer. More...
 
mpLayerType GetLayerType ()
 Get layer type: a Layer can be of different types: plot lines, axis, info boxes, etc, this method returns the right value. More...
 
bool IsVisible ()
 Checks whether the layer is visible or not. More...
 
void SetVisible (bool show)
 Sets layer visibility. More...
 
const wxBrush & GetBrush () const
 Get brush set for this layer. More...
 
void SetBrush (wxBrush brush)
 Set layer brush. More...
 

Protected Member Functions

void RecalculateShape ()
 Called to update the m_shape_xs, m_shape_ys vectors, whenever a parameter changes. More...
 
void TranslatePoint (double x, double y, double &out_x, double &out_y)
 A method for 2D translation and rotation, using the current transformation stored in m_reference_x,m_reference_y,m_reference_phi. More...
 
void ShapeUpdated ()
 Must be called by the descendent class after updating the shape (m_shape_xs/ys), or when the transformation changes. More...
 

Protected Attributes

double m_cov_00
 The elements of the matrix (only 3 since cov(0,1)=cov(1,0) in any positive definite matrix). More...
 
double m_cov_11
 
double m_cov_01
 
double m_quantiles
 
int m_segments
 The number of line segments that build up the ellipse. More...
 
int m_flags
 Holds label alignment. More...
 
double m_reference_x
 The coordinates of the object (orientation "phi" is in radians). More...
 
double m_reference_y
 
double m_reference_phi
 
std::vector< double > m_shape_xs
 This contains the object points, in local coordinates (to be transformed by the current transformation). More...
 
std::vector< double > m_shape_ys
 
std::vector< double > m_trans_shape_xs
 The buffer for the translated & rotated points (to avoid recomputing them with each mpWindow refresh). More...
 
std::vector< double > m_trans_shape_ys
 
double m_bbox_min_x
 The precomputed bounding box: More...
 
double m_bbox_max_x
 
double m_bbox_min_y
 
double m_bbox_max_y
 
wxFont m_font
 Layer's font. More...
 
wxPen m_pen
 Layer's pen. More...
 
wxBrush m_brush
 Layer's brush. More...
 
wxString m_name
 Layer's name. More...
 
bool m_continuous
 Specify if the layer will be plotted as a continuous line or a set of points. More...
 
bool m_showName
 States whether the name of the layer must be shown (default is true). More...
 
bool m_drawOutsideMargins
 select if the layer should draw only inside margins or over all DC More...
 
mpLayerType m_type
 Define layer type, which is assigned by constructor. More...
 
bool m_visible
 Toggles layer visibility. More...
 

Constructor & Destructor Documentation

mpCovarianceEllipse::mpCovarianceEllipse ( double  cov_00 = 1,
double  cov_11 = 1,
double  cov_01 = 0,
double  quantiles = 2,
int  segments = 32,
const wxString &  layerName = wxT("") 
)
inline

Default constructor.

Initializes to a unity diagonal covariance matrix, a 95% confidence interval (2 sigmas), 32 segments, and a continuous plot (m_continuous=true).

Definition at line 1555 of file mathplot.h.

References mpLAYER_PLOT.

virtual mpCovarianceEllipse::~mpCovarianceEllipse ( )
inlinevirtual

Definition at line 1574 of file mathplot.h.

Member Function Documentation

const wxBrush& mpLayer::GetBrush ( ) const
inlineinherited

Get brush set for this layer.

Returns
brush.

Definition at line 322 of file mathplot.h.

wxBitmap mpLayer::GetColourSquare ( int  side = 16)
inherited

Get a small square bitmap filled with the colour of the pen used in the layer.

Useful to create legends or similar reference to the layers.

Parameters
sideside length in pixels
Returns
a wxBitmap filled with layer's colour
bool mpLayer::GetContinuity ( ) const
inlineinherited

Gets the 'continuity' property of the layer.

See also
SetContinuity

Definition at line 274 of file mathplot.h.

void mpMovableObject::GetCoordinateBase ( double &  x,
double &  y,
double &  phi 
) const
inlineinherited

Get the current coordinate transformation.

Definition at line 1460 of file mathplot.h.

void mpCovarianceEllipse::GetCovarianceMatrix ( double &  cov_00,
double &  cov_01,
double &  cov_11 
) const
inline

Returns the elements of the current covariance matrix:

Definition at line 1591 of file mathplot.h.

bool mpLayer::GetDrawOutsideMargins ( )
inlineinherited

Get Draw mode: inside or outside margins.

Returns
The draw mode

Definition at line 301 of file mathplot.h.

const wxFont& mpLayer::GetFont ( ) const
inlineinherited

Get font set for this layer.

Returns
Font

Definition at line 259 of file mathplot.h.

mpLayerType mpLayer::GetLayerType ( )
inlineinherited

Get layer type: a Layer can be of different types: plot lines, axis, info boxes, etc, this method returns the right value.

Returns
An integer indicating layer type

Definition at line 310 of file mathplot.h.

virtual double mpMovableObject::GetMaxX ( )
inlinevirtualinherited

Get inclusive right border of bounding box.

Reimplemented from mpLayer.

Definition at line 1486 of file mathplot.h.

virtual double mpMovableObject::GetMaxY ( )
inlinevirtualinherited

Get inclusive top border of bounding box.

Reimplemented from mpLayer.

Definition at line 1494 of file mathplot.h.

References mpLayer::Plot().

virtual double mpMovableObject::GetMinX ( )
inlinevirtualinherited

Get inclusive left border of bounding box.

Reimplemented from mpLayer.

Definition at line 1482 of file mathplot.h.

virtual double mpMovableObject::GetMinY ( )
inlinevirtualinherited

Get inclusive bottom border of bounding box.

Reimplemented from mpLayer.

Definition at line 1490 of file mathplot.h.

wxString mpLayer::GetName ( ) const
inlineinherited

Get layer name.

Returns
Name

Definition at line 254 of file mathplot.h.

const wxPen& mpLayer::GetPen ( ) const
inlineinherited

Get pen set for this layer.

Returns
Pen

Definition at line 264 of file mathplot.h.

double mpCovarianceEllipse::GetQuantiles ( ) const
inline

Definition at line 1576 of file mathplot.h.

int mpCovarianceEllipse::GetSegments ( ) const
inline

Definition at line 1587 of file mathplot.h.

virtual bool mpMovableObject::HasBBox ( )
inlinevirtualinherited

Check whether this layer has a bounding box.

The default implementation returns TRUE. Override and return FALSE if your mpLayer implementation should be ignored by the calculation of the global bounding box for all layers in a mpWindow.

Return values
TRUEHas bounding box
FALSEHas not bounding box

Reimplemented from mpLayer.

Definition at line 1478 of file mathplot.h.

virtual bool mpLayer::IsInfo ( )
inlinevirtualinherited

Check whether the layer is an info box.

The default implementation returns FALSE. It is overrided to TRUE for mpInfoLayer class and its derivative. It is necessary to define mouse actions behaviour over info boxes.

Returns
whether the layer is an info boxes
See also
mpInfoLayer::IsInfo

Reimplemented in mpInfoLayer.

Definition at line 186 of file mathplot.h.

bool mpLayer::IsVisible ( )
inlineinherited

Checks whether the layer is visible or not.

Returns
true if visible

Definition at line 314 of file mathplot.h.

virtual void mpMovableObject::Plot ( wxDC &  dc,
mpWindow w 
)
virtualinherited

Plot given view of layer to the given device context.

An implementation of this function has to transform layer coordinates to wxDC coordinates based on the view parameters retrievable from the mpWindow passed in w. Note that the public methods of mpWindow: x2p,y2p and p2x,p2y are already provided which transform layer coordinates to DC pixel coordinates, and user code should rely on them for portability and future changes to be applied transparently, instead of implementing the following formulas manually.

The passed device context dc has its coordinate origin set to the top-left corner of the visible area (the default). The coordinate orientation is as shown in the following picture:

(wxDC origin 0,0)
       x-------------> ascending X ----------------+
       |                                           |
       |                                           |
       V ascending Y                               |
           |                                           |
           |                                           |
           |                                           |
           +-------------------------------------------+  <-- right-bottom corner of the mpWindow visible area.

Note that Y ascends in downward direction, whereas the usual vertical orientation for mathematical plots is vice versa. Thus Y-orientation will be swapped usually, when transforming between wxDC and mpLayer coordinates. This change of coordinates is taken into account in the methods p2x,p2y,x2p,y2p.

Rules for transformation between mpLayer and wxDC coordinates

dc_X = (layer_X - mpWindow::GetPosX()) * mpWindow::GetScaleX()
dc_Y = (mpWindow::GetPosY() - layer_Y) * mpWindow::GetScaleY() // swapping Y-orientation
layer_X = (dc_X / mpWindow::GetScaleX()) + mpWindow::GetPosX() // scale guaranteed to be not 0
layer_Y = mpWindow::GetPosY() - (dc_Y / mpWindow::GetScaleY()) // swapping Y-orientation
Parameters
dcDevice context to plot to.
wView to plot. The visible area can be retrieved from this object.
See also
mpWindow::p2x,mpWindow::p2y,mpWindow::x2p,mpWindow::y2p

Implements mpLayer.

void mpCovarianceEllipse::RecalculateShape ( )
protected

Called to update the m_shape_xs, m_shape_ys vectors, whenever a parameter changes.

void mpMovableObject::SetAlign ( int  align)
inlineinherited

Set label axis alignment.

Parameters
alignalignment (choose between mpALIGN_NE, mpALIGN_NW, mpALIGN_SW, mpALIGN_SE

Definition at line 1501 of file mathplot.h.

void mpLayer::SetBrush ( wxBrush  brush)
inlineinherited

Set layer brush.

Parameters
brushbrush, will be copied to internal class member

Definition at line 326 of file mathplot.h.

void mpLayer::SetContinuity ( bool  continuity)
inlineinherited

Set the 'continuity' property of the layer (true:draws a continuous line, false:draws separate points).

See also
GetContinuity

Definition at line 269 of file mathplot.h.

void mpMovableObject::SetCoordinateBase ( double  x,
double  y,
double  phi = 0 
)
inlineinherited

Set the coordinate transformation (phi in radians, 0 means no rotation).

Definition at line 1469 of file mathplot.h.

References mpALIGN_NE.

void mpCovarianceEllipse::SetCovarianceMatrix ( double  cov_00,
double  cov_01,
double  cov_11 
)
inline

Changes the covariance matrix:

Definition at line 1600 of file mathplot.h.

void mpLayer::SetDrawOutsideMargins ( bool  drawModeOutside)
inlineinherited

Set Draw mode: inside or outside margins.

Default is outside, which allows the layer to draw up to the mpWindow border.

Parameters
drawModeOutsideThe draw mode to be set

Definition at line 297 of file mathplot.h.

void mpLayer::SetFont ( wxFont &  font)
inlineinherited

Set layer font.

Parameters
fontFont, will be copied to internal class member

Definition at line 288 of file mathplot.h.

void mpLayer::SetName ( wxString  name)
inlineinherited

Set layer name.

Parameters
nameName, will be copied to internal class member

Definition at line 283 of file mathplot.h.

void mpLayer::SetPen ( wxPen  pen)
inlineinherited

Set layer pen.

Parameters
penPen, will be copied to internal class member

Definition at line 293 of file mathplot.h.

void mpCovarianceEllipse::SetQuantiles ( double  q)
inline

Set how many "quantiles" to draw, that is, the confidence interval of the ellipse (see above).

Definition at line 1580 of file mathplot.h.

void mpCovarianceEllipse::SetSegments ( int  segments)
inline

Definition at line 1586 of file mathplot.h.

void mpLayer::SetVisible ( bool  show)
inlineinherited

Sets layer visibility.

Parameters
showvisibility bool.

Definition at line 318 of file mathplot.h.

void mpMovableObject::ShapeUpdated ( )
protectedinherited

Must be called by the descendent class after updating the shape (m_shape_xs/ys), or when the transformation changes.

This method updates the buffers m_trans_shape_xs/ys, and the precomputed bounding box.

void mpLayer::ShowName ( bool  show)
inlineinherited

Shows or hides the text label with the name of the layer (default is visible).

Definition at line 278 of file mathplot.h.

void mpMovableObject::TranslatePoint ( double  x,
double  y,
double &  out_x,
double &  out_y 
)
protectedinherited

A method for 2D translation and rotation, using the current transformation stored in m_reference_x,m_reference_y,m_reference_phi.

Member Data Documentation

double mpMovableObject::m_bbox_max_x
protectedinherited

Definition at line 1526 of file mathplot.h.

double mpMovableObject::m_bbox_max_y
protectedinherited

Definition at line 1526 of file mathplot.h.

double mpMovableObject::m_bbox_min_x
protectedinherited

The precomputed bounding box:

See also
ShapeUpdated

Definition at line 1526 of file mathplot.h.

double mpMovableObject::m_bbox_min_y
protectedinherited

Definition at line 1526 of file mathplot.h.

wxBrush mpLayer::m_brush
protectedinherited

Layer's brush.

Definition at line 331 of file mathplot.h.

bool mpLayer::m_continuous
protectedinherited

Specify if the layer will be plotted as a continuous line or a set of points.

Definition at line 333 of file mathplot.h.

double mpCovarianceEllipse::m_cov_00
protected

The elements of the matrix (only 3 since cov(0,1)=cov(1,0) in any positive definite matrix).

Definition at line 1611 of file mathplot.h.

double mpCovarianceEllipse::m_cov_01
protected

Definition at line 1611 of file mathplot.h.

double mpCovarianceEllipse::m_cov_11
protected

Definition at line 1611 of file mathplot.h.

bool mpLayer::m_drawOutsideMargins
protectedinherited

select if the layer should draw only inside margins or over all DC

Definition at line 335 of file mathplot.h.

int mpMovableObject::m_flags
protectedinherited

Holds label alignment.

Definition at line 1501 of file mathplot.h.

wxFont mpLayer::m_font
protectedinherited

Layer's font.

Definition at line 326 of file mathplot.h.

wxString mpLayer::m_name
protectedinherited

Layer's name.

Definition at line 332 of file mathplot.h.

wxPen mpLayer::m_pen
protectedinherited

Layer's pen.

Definition at line 330 of file mathplot.h.

double mpCovarianceEllipse::m_quantiles
protected

Definition at line 1612 of file mathplot.h.

double mpMovableObject::m_reference_phi
protectedinherited

Definition at line 1508 of file mathplot.h.

double mpMovableObject::m_reference_x
protectedinherited

The coordinates of the object (orientation "phi" is in radians).

Definition at line 1508 of file mathplot.h.

double mpMovableObject::m_reference_y
protectedinherited

Definition at line 1508 of file mathplot.h.

int mpCovarianceEllipse::m_segments
protected

The number of line segments that build up the ellipse.

Definition at line 1616 of file mathplot.h.

std::vector<double> mpMovableObject::m_shape_xs
protectedinherited

This contains the object points, in local coordinates (to be transformed by the current transformation).

Definition at line 1516 of file mathplot.h.

std::vector<double> mpMovableObject::m_shape_ys
protectedinherited

Definition at line 1516 of file mathplot.h.

bool mpLayer::m_showName
protectedinherited

States whether the name of the layer must be shown (default is true).

Definition at line 334 of file mathplot.h.

std::vector<double> mpMovableObject::m_trans_shape_xs
protectedinherited

The buffer for the translated & rotated points (to avoid recomputing them with each mpWindow refresh).

Definition at line 1521 of file mathplot.h.

std::vector<double> mpMovableObject::m_trans_shape_ys
protectedinherited

Definition at line 1521 of file mathplot.h.

mpLayerType mpLayer::m_type
protectedinherited

Define layer type, which is assigned by constructor.

Definition at line 336 of file mathplot.h.

bool mpLayer::m_visible
protectedinherited

Toggles layer visibility.

Definition at line 337 of file mathplot.h.




Page generated by Doxygen 1.8.11 for MRPT 1.3.2 SVN: at Mon May 9 06:50:38 UTC 2016