function status = mlq_vis( t, x, flag)
% mlq_vis: visulalization for mlq.m
%   usage: options = odeset( 'OutputFcn', 'mlq_vis')
%   mlq_vis( tspan, x0, 'init')
%   status = mlq_vis( t, x); maybe multiple rows/columns
%   mlq_vis( [], [], 'done')

global E T A mm

status = 0;	% Assume stop button wasn't pushed.

if ischar( t)
	flag = t;	% use first arg as flag
else
	if nargin<3, flag = '';	end	% ode standard
end

switch( flag)
case 'init'
	figure( A.fig(1));
	%odeplot( t, x, 'init');
case ''
	figure( A.fig(1));
	%status = odeplot( t, x);
case 'done'
	figure( A.fig(1));
	%odeplot( t, x, 'done');
case 'pivot'
	figure( E.fig(1));
	cla;
	E.hold = 1;
	for i=1:A.nm
		feval( E.vis, 0, A.xp(:,i), '', A.col(i,:));
	end
	E.hold = 0;
case 'mat'
	figure( A.fig(2));
	for i=1:A.nm
		% linear dynamic model
		subplot( A.nm, 3, 3*i-2);
		ABc = [ mm(i).A, mm(i).B, mm(i).c];
		sc = max( max( abs( ABc(:))), 0.1);
		imagesc( ABc, 1.2*[-sc,sc]);
		set( gca, 'Box','on', 'XTick',0.5+E.ns+[0,E.ni],...
			'XTickLabel',[], 'YTick',0.5+(1:E.ns), 'YTickLabel', []);
		grid( 'on');
		ylabel( sprintf( 'Mod%1d', i));
		title( sprintf( '[%4.1f]', sc));
		if i==A.nm, xlabel( 'A,B,c'); end
		% quadratic reward model
		subplot( A.nm, 3, 3*i-1);
		Qq = [ mm(i).Q, mm(i).q1, [mm(i).q0;zeros(E.ns-1,1)]];
		sc = max( max( abs( Qq(:))), 0.1);
		imagesc( Qq, 1.2*[-sc,sc]);
		set( gca, 'Box','on', 'XTick',0.5+E.ns+[0,E.ni],...
			'XTickLabel',[], 'YTick',0.5+(1:E.ns), 'YTickLabel', []);
		grid( 'on');
		title( sprintf( '[%4.1f]', sc));
		if i==A.nm, xlabel( 'Q,q1,q0'); end
		% LQ controller
		subplot( A.nm, 3, 3*i);
		PK = [ mm(i).P, mm(i).K', mm(i).xv];
		sc = max( max( abs( PK(:))), 0.1);
		imagesc( PK, 1.2*[-sc,sc]);
		set( gca, 'Box','on', 'XTick',0.5+E.ns+[0,E.ni],...
			'XTickLabel',[], 'YTick',0.5+(1:E.ns), 'YTickLabel', []);
		grid( 'on');
		title( sprintf( '[%4.1f]', sc));
		if i==A.nm, xlabel( 'P,K.xv'); end
	end
case 'wave'
	figure( A.fig(1)); clf;
	rows = E.ns+E.ni+1;
	% predictions
	for r = 1:E.ns
		subplot( rows, 1, r);
		plot( T.t(1:T.i), T.dot(1:T.i,r), 'm', 'LineWidth', 3); grid( 'on');
		set( gca, 'ColorOrder', A.col); hold('on');
		plot( T.t(1:T.i), T.mdot(1:T.i,A.nm*(r-1)+(1:A.nm)));
		set(gca,'YLim',10*[E.smin(r),E.smax(r)]);
		ylabel( E.label(r,:));
	end
	% actions
	for r = 1:E.ni
		subplot( rows, 1, E.ns+r);
		plot( T.t(1:T.i), T.act(1:T.i,r), 'm', 'LineWidth', 3); grid( 'on');
		set( gca, 'ColorOrder', A.col); hold('on');
		plot( T.t(1:T.i), T.mact(1:T.i,A.nm*(r-1)+(1:A.nm)));
		set(gca,'YLim',2*[E.imin(r),E.imax(r)]);
		ylabel( E.label(E.ns+r,:));
	end
	% responsibility
	subplot( rows, 1, rows);
	mlq_vis( 'resp');
case 'resp'
	set( gca, 'ColorOrder', A.col); hold('on');
	plot( T.t(1:T.i), T.resp(1:T.i,:)*0.8+repmat(1:A.nm,T.i,1), 'LineWidth', 2); grid( 'on');
	set( gca,'YLim',[1,A.nm+1],'YTick', 1:A.nm);
	ylabel( 'Resp');
otherwise
	error( [' unknown flag: ', flag]);
end

%%%%