Gnuplot.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef RL_HAL_GNUPLOT_H
#define RL_HAL_GNUPLOT_H
 
#include <list>
 
#include "CyclicDevice.h"
#include "JointPositionActuator.h"
 
namespace rl
{
    namespace hal
    {
        class Gnuplot : public CyclicDevice, public JointPositionActuator
        {
        public:
            Gnuplot(
                const ::std::size_t& dof,
                const ::std::chrono::nanoseconds& updateRate,
                const ::rl::math::Real& ymin,
                const ::rl::math::Real& ymax,
                const ::std::size_t& max = 200
            );
            
            virtual ~Gnuplot();
            
            void close();
            
            void open();
            
            void setJointPosition(const ::rl::math::Vector& q);
            
            void setRange(const ::rl::math::Real& ymin, const ::rl::math::Real& ymax);
            
            void start();
            
            void step();
            
            void stop();
            
        protected:
            
        private:
            FILE* fp;
            
            ::std::list< ::rl::math::Vector> history;
            
            ::std::size_t max;
            
            ::rl::math::Real ymax;
            
            ::rl::math::Real ymin;
        };
    }
}
 
#endif // RL_HAL_GNUPLOT_H