/usr/include/roboptim/core/visualization/gnuplot-differentiable-function.hh is in libroboptim-core-dev 2.0-7.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 | // 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_DIFFERENTIABLE_FUNCTION_HH
# define ROBOPTIM_CORE_VISUALIZATION_GNUPLOT_DIFFERENTIABLE_FUNCTION_HH
# include <roboptim/core/sys.hh>
# include <roboptim/core/debug.hh>
# include <boost/format.hpp>
# include <roboptim/core/function.hh>
# include <roboptim/core/differentiable-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 Import discrete interval type from function.
typedef DifferentiableFunction::argument_t argument_t;
/// \brief Plot the Jacobian with Gnuplot.
///
/// Plot the Jacobian of a differentiable function with Gnuplot.
/// \param f differentiable function whose Jacobian will be plotted
/// \param arg optimization parameters of the point to plot
/// \return Gnuplot command
Command plot_jac (const DifferentiableFunction& f,
const DifferentiableFunction::argument_t& arg);
Command plot_jac (const DifferentiableFunction& f,
const argument_t& arg)
{
DifferentiableFunction::jacobian_t jac = f.jacobian(arg);
std::string str = "";
str += "set title 'jacobian(" + f.getName() + ")'\n";
str += "set palette defined(0 \"white\",1 \"blue\")\n";
str += "set yrange [:] reverse\n";
str += "set size square\n";
str += "plot '-' using 1:2:($3 == 0 ? 0 : 1) matrix with image\n";
for (DifferentiableFunction::jacobian_t::Index cstr_id = 0;
cstr_id < jac.rows(); ++cstr_id)
for (DifferentiableFunction::jacobian_t::Index out_id = 0;
out_id < jac.cols(); ++out_id)
{
str += (boost::format("%1.2f")
% normalize(jac(cstr_id, out_id))).str();
if (out_id < jac.cols() - 1) str += " ";
else str += "\n";
}
str += "e\n";
return Command (str);
}
/// @}
} // end of namespace gnuplot.
} // end of namespace visualization.
} // end of namespace roboptim.
#endif //! ROBOPTIM_CORE_VISUALIZATION_GNUPLOT_DIFFERENTIABLE_FUNCTION_HH
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