## Hi,

I got it working with MathGL 1.11, which can be installed from the 12.04 Ubuntu repository.
If additionally the GNU Scientific Library (GSL) is to be used, you find it in the repository (don't forget to install the SDK also).

First:

Install MathGl and additionally the development package libmgl-dev.
The include path the is in /usr/include/mgl

Second:

Add in the CMakeLists.txt the following entries:

{

for adding the GNU Scientific Library

- find_package( PkgConfig REQUIRED)
- pkg_check_modules( gsl REQUIRED gsl )

}

- add_executable(
...
mathgl_example.cpp ## find the example in appendix
)
target_link_libraries(ros_function_safety_trajectoryplanning_conti_node
${catkin_LIBRARIES}

${gsl_LIBRARIES} ## if you want to add the GNU Scientific Library also
mgl
mgl-fltk

roscpp
roslib
rostime
roscpp_serialization
rosconsole
pthread
rt
)

Third:

Include
mathgl_example.cpp / .h in your project and

evoke it from eg. main()

// ====> MATHGL
mglGraphFLTK mathglHnd;
static pthread_t mathglThread;
CMATHGL_EXAMPLE* mathgl=new CMATHGL_EXAMPLE(&mathglHnd, &mathglThread);
// ===========

mathgl_example.h:

#include <mgl mgl_fltk.h="">
#include <pthread.h>

#ifndef MATHGL_EXAMPLE_H_
#define MATHGL_EXAMPLE_H_

class CMATHGL_EXAMPLE
{
public:
CMATHGL_EXAMPLE(mglGraphFLTK* mathglHnd, pthread_t* mathglThread);
~CMATHGL_EXAMPLE();

};

#endif /* MATHGL_EXAMPLE_H_ */
=======mathgl_example.cpp

int sample(mglGraph *gr, void *)
{
mglData a(50,15),d(50),d1(50),d2(50);
d.Modify("0.7*sin(2*pi*x) + 0.5*cos(3*pi*x) + 0.2*sin(pi*x)");
d1.Modify("cos(2*pi*x)");
d2.Modify("sin(2*pi*x)");
a.Modify("pow(x,4*y)");

```
gr->NewFrame();
gr->Box(); gr->Axis("xy"); gr->Label('x',"x"); gr->Label('y',"y");
gr->Text(mglPoint(0,1.2,1),"Simple plot of one curve");
gr->Plot(d);
gr->EndFrame();
gr->NewFrame();
gr->Box(); gr->Axis("xy"); gr->Label('x',"x"); gr->Label('y',"y");
gr->Text(mglPoint(0,1.2,1),"Three curves with manual styles");
gr->Plot(d,"b");
gr->Plot(d1,"ri");
gr->Plot(d2,"m|^");
gr->Plot(d,"l o");
gr->EndFrame();
gr->NewFrame();
gr->Box(); gr->Axis("xy"); gr->Label('x',"x"); gr->Label('y',"y");
gr->Text(mglPoint(0,1.2,1),"Three curves with automatic styles");
gr->Plot(d);
gr->Plot(d1);
gr->Plot(d2);
gr->EndFrame();
gr->NewFrame();
gr->Box(); gr->Axis("xy"); gr->Label('x',"x"); gr->Label('y',"y");
gr->Text(mglPoint(0,1.2,1),"Curves from matrix");
gr->Plot(a);
gr->EndFrame();
gr->NewFrame();
gr->Box(); gr->Axis("xy"); gr->Label('x',"x"); gr->Label('y',"y");
gr->Text(mglPoint(0,1.2,1),"Parametrical curves in 2D");
gr->Plot(d1,d2,"b");
gr->Plot(d1,d,"ri");
gr->EndFrame();
gr->NewFrame();
gr->Text(mglPoint(0,1.2,1),"Parametrical curves in 3D");
gr->Rotate(60,40);
gr->Box(); gr->Axis(); gr->Label('x',"x"); gr->Label('y',"y"); gr->Label('z',"z");
gr->Plot(d1,d2,d,"b");
gr->EndFrame();
gr->NewFrame();
gr->SubPlot(2,2,0);
gr->Box(); gr->Axis("xy"); gr->Label('x',"x"); gr->Label('y',"y");
gr->Text(mglPoint(0,1.2,1),"Area plot");
gr->Area(d);
gr->SubPlot(2,2,1);
gr->Box(); gr->Axis("xy"); gr->Label('x',"x"); gr->Label('y',"y");
gr->Text(mglPoint(0,1.2 ...
```

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