GMMGnuplotVisualization.h

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#include <ros/ros.h>

// Global includes
#include <string>
#include <set>
#include <utility>

// Package includes
#include <boost/shared_ptr.hpp>

#include <tf/transform_listener.h>

#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

// Local includes
#include "visualization/gnuplot/gnuplot-iostream.h"

namespace Visualization {
  
class GMMGnuplotVisualization
{
public:
    
    GMMGnuplotVisualization();
    
    ~GMMGnuplotVisualization();
    
    void plotOrientationHistogram(const std::string& filename, const std::vector<std::pair<double, double>> data, const std::string& rotaxis);
    
private:
    // similar to active_scene_recognition/recognizer_prediction_psm asrVisualizer
    void initPlot(const std::string& pPlotTitle,
                  const std::string& pXLabel,
                  const std::string& pYLabel,
                  const std::pair<double, double>& pXRange,
                  const std::pair<double, double>& pYRange,
                  unsigned int samples);

    void addPointToBuffer(double x, double y);

    void sendPlot();


    class PlotFileHandler
    {
    public:
        PlotFileHandler(std::string filename);

        void reset();

        void add(std::string in);

        void send(std::vector<std::pair<double, double>> pointBuffer);

        bool gnuplotExists();

        void flush();

    private:
        //Interface with which configurations or data is sent to gnuplot.
        boost::shared_ptr<Gnuplot> mGnuplotHandler;
        // Buffer for text to be written to file
        std::string mFileBuffer;
        // Name of the file to write the gnuplot script into
        std::string mFilename;
    };

    //Interface through which configurations or data is sent to gnuplot and file
    PlotFileHandler mPlotFileHandler;

    //buffer for visualization points
    std::vector<std::pair<double, double> > mPointBuffer;
};

}