plplot_graph.cpp

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#include "plplot_graph.h"

singlePlot::singlePlot(uint id_)
{
        id=id_;
        x=NULL;
        y=NULL;
        Lsize=0;
        allocated_size=0;
        color=PL_BLACK;
        do_not_draw=false;
        shape=PL_NOTRELEVANT;
}

void singlePlot::SetColor(plcolors color_)
{
        color=color_;
}

void singlePlot::SetXLinspace(double min,double max,uint size)
{
        if(x!=NULL)
                free(x);
        
        x=(double*)malloc(size*sizeof(double));
        
        double step=(max-min)/size;
        uint i=0;
        for(double v=min;v<max;v+=step,i++)
                x[i]=v;
        
        Lsize=size;
}

void singlePlot::SetEnv(double xmin_,double xmax_,double ymin_,double ymax_)
{       
        xmin=xmin_;
        xmax=xmax_;
        ymin=ymin_;
        ymax=ymax_;
}

void singlePlot::DynamicScaleEnv(std::vector<t_posePtr>& path,plshape shape_)
{
        shape=shape_;
        
        if(!path.size())
        {
                xmin=-1;
                xmax=1;
                ymin=-1;
                ymax=1;
                return;
        }
        
        xmax=max_x(path);
        xmin=min_x(path);
        
        ymax=max_y(path);
        ymin=min_y(path);
        
        double dx=xmax-xmin;
        double dy=ymax-ymin;
        
        xmax+=0.1*dx;
        xmin-=0.1*dx;
        
        ymax+=0.1*dy;
        ymin-=0.1*dy;

        double xc,yc;
        
        if(shape==PL_SQUARE)
        {
                if(dx>dy)
                {
                        yc=(ymin+ymax)/2;
                        ymin=yc-dx/2.;
                        ymax=yc+dx/2.;
                }else
                {
                        xc=(xmin+xmax)/2;
                        xmin=xc-dy/2.;
                        xmax=xc+dy/2.;
                }
        }
        
        if(xmin==xmax)
        {
                xmin-=1;
                xmax+=1;
        }
        
        if(ymin==ymax)
        {
                ymin-=1;
                ymax+=1;
        }
}

void singlePlot::Env()
{
        if(xmin==xmax)
        {
                xmin=-1;
                xmax=1;
        }
        
        if(ymin==ymax)
        {
                ymin=-1;
                ymax=1;
        }
        
        plenv(xmin,xmax,ymin,ymax,shape,2);
}

void singlePlot::SetLabel(string x_label_,string y_label_,string title_)
{
        title=title_;
        x_label=x_label_;
        y_label=y_label_;
}

void singlePlot::Label()
{
        pllab(x_label.c_str(),y_label.c_str(),title.c_str());
}

void singlePlot::SetSize(uint size)
{
        if(size>allocated_size)
        {
                allocated_size=1024+2*size;
                
                x=(double*)realloc(x,allocated_size*sizeof(double));
                y=(double*)realloc(y,allocated_size*sizeof(double));
        }
        
        Lsize=size;
}

void singlePlot::Plot()
{
        if(!Lsize)
                return;//nothing to draw
        
        if(do_not_draw)
                return;
        
        plcol0(color);
        plline(Lsize,x,y);
        plcol0(PL_BLACK);
}

plSpace::plSpace(uint width,uint height, bool draw_)
{
        draw=draw_;
        
        if(!draw)
                return;
        
        plsdev("xcairo");

        plsetopt("np",NULL);
        plsetopt("geometry","800x800");

        plscolor(true);
        plscolbg(255,255,255);
        plssub(width,height);
        
        for(uint i=0;i<width*height;i++)
        {
                singlePlotPtr sPlot(new singlePlot(i));
                
                sPlot->id=i;
                sPlot->SetEnv(0,1,0,1);
                sPlot->SetLabel("N/A","N/A","Unused");
                
                plotVector.push_back(sPlot);
                
                sPlot.reset(new singlePlot(i));
                sPlot->SetEnv(0,1,0,1);
                sPlot->id=i;
                
                plotVector_2.push_back(sPlot);
                
                sPlot.reset(new singlePlot(i));
                sPlot->SetEnv(0,1,0,1);
                sPlot->id=i;
                
                plotVector_3.push_back(sPlot);
                
                sPlot.reset(new singlePlot(i));
                sPlot->SetEnv(0,1,0,1);
                sPlot->id=i;
                
                plotVector_4.push_back(sPlot);
        }
        
        plinit ();
        plscol0(14,0,0,0);
        plscol0(2,255,210,0);
        plcol0(14);
}

plSpace::~plSpace()
{};
        
void plSpace::Plot()
{
        if(!draw)
                return;
        
        for(uint i=0;i<plotVector.size();i++)//create empty plots for every non existing plot member
        {
                plotVector[i]->Env();//redraw all plots
                plotVector[i]->Label();
                plotVector[i]->Plot();
                
                plotVector_2[i]->Plot();
                plotVector_3[i]->Plot();
                plotVector_4[i]->Plot();
        }
}

void plSpace::SetThirdPlot(uint pos,vector<t_posePtr>& p,double (func)(t_pose&),plcolors color, double Dt)
{
        if(!draw)
                return;
        
        if(!p.size())
                return;
        
        t_posePtr pose=p.back();

        double latest_timestamp=pose->timestamp;
        double iterating_timestamp;
        
        uint vector_size=0;
        
        for(vector<t_posePtr>::reverse_iterator it=p.rbegin();it<p.rend();++it)
        {
                iterating_timestamp=(*it)->timestamp;
                if(fabs(latest_timestamp-iterating_timestamp)<Dt)
                        vector_size++;
        }
        
        plotVector_3[pos]->SetSize(vector_size);
        
        uint i=0;
        for(vector<t_posePtr>::reverse_iterator it=p.rbegin();it<p.rend();++it,i++)
        {
                iterating_timestamp=(*it)->timestamp;
                if(fabs(latest_timestamp-iterating_timestamp)>Dt)
                        break;
                
                plotVector_3[pos]->x[i]=iterating_timestamp-latest_timestamp;
                plotVector_3[pos]->y[i]=func(*(*it));
        }
        
        plotVector_3[pos]->SetColor(color);
}

void plSpace::SetFourthPlot(uint pos,vector<t_posePtr>& p,double (func)(t_pose&),plcolors color, double Dt)
{
        if(!draw)
                return;
        
        if(!p.size())
                return;
        
        t_posePtr pose=p.back();

        double latest_timestamp=pose->timestamp;
        double iterating_timestamp;
        
        uint vector_size=0;
        
        for(vector<t_posePtr>::reverse_iterator it=p.rbegin();it<p.rend();++it)
        {
                iterating_timestamp=(*it)->timestamp;
                if(fabs(latest_timestamp-iterating_timestamp)<Dt)
                        vector_size++;
        }
        
        plotVector_4[pos]->SetSize(vector_size);
        
        uint i=0;
        for(vector<t_posePtr>::reverse_iterator it=p.rbegin();it<p.rend();++it,i++)
        {
                iterating_timestamp=(*it)->timestamp;
                if(fabs(latest_timestamp-iterating_timestamp)>Dt)
                        break;
                
                plotVector_4[pos]->x[i]=iterating_timestamp-latest_timestamp;
                plotVector_4[pos]->y[i]=func(*(*it));
        }
        
        plotVector_4[pos]->SetColor(color);
}

void plSpace::SetSecondaryPlot(uint pos,vector<t_posePtr>& p,double (func)(t_pose&),plcolors color, double Dt)
{
        if(!draw)
                return;
        
        if(!p.size())
                return;
        
        t_posePtr pose=p.back();

        double latest_timestamp=pose->timestamp;
        double iterating_timestamp;
        
        uint vector_size=0;
        
        for(vector<t_posePtr>::reverse_iterator it=p.rbegin();it<p.rend();++it)
        {
                iterating_timestamp=(*it)->timestamp;
                if(fabs(latest_timestamp-iterating_timestamp)<Dt)
                        vector_size++;
        }
        
        plotVector_2[pos]->SetSize(vector_size);
        
        uint i=0;
        for(vector<t_posePtr>::reverse_iterator it=p.rbegin();it<p.rend();++it,i++)
        {
                iterating_timestamp=(*it)->timestamp;
                if(fabs(latest_timestamp-iterating_timestamp)>Dt)
                        break;
                
                plotVector_2[pos]->x[i]=iterating_timestamp-latest_timestamp;
                plotVector_2[pos]->y[i]=func(*(*it));
        }

        plotVector_2[pos]->SetColor(color);
}

void plSpace::SetMember_UseTimestamp(uint pos,vector<t_posePtr>& p,double (func)(t_pose&),plcolors color,pair<double,double> limits,string Xlabel,string Ylabel,string title, double Dt)
{
        if(!draw)
                return;
        
        if(!p.size())
                return;
        
        t_posePtr pose=p.back();

        double latest_timestamp=pose->timestamp;
        double iterating_timestamp;
        
        uint vector_size=0;
        
        for(vector<t_posePtr>::reverse_iterator it=p.rbegin();it<p.rend();++it)
        {
                iterating_timestamp=(*it)->timestamp;
                if(fabs(latest_timestamp-iterating_timestamp)<Dt)
                        vector_size++;
        }
        
        plotVector[pos]->SetSize(vector_size);
        
        uint i=0;
        for(vector<t_posePtr>::reverse_iterator it=p.rbegin();it<p.rend();++it,i++)
        {
                iterating_timestamp=(*it)->timestamp;
                if(fabs(latest_timestamp-iterating_timestamp)>Dt)
                        break;
                
                plotVector[pos]->x[i]=iterating_timestamp-latest_timestamp;
                plotVector[pos]->y[i]=func(*(*it));
        }
        
        plotVector[pos]->ex_timestamp=latest_timestamp;
        plotVector[pos]->SetEnv(-Dt,0.5,limits.first,limits.second);
        
        plotVector[pos]->SetLabel(Xlabel.c_str(),Ylabel.c_str(),title.c_str());
        plotVector[pos]->SetColor(color);
}

void plSpace::SetRunTime(uint pos,vector<double>& rt,plcolors color,string title,double tmax, double max)
{
        if(!draw)
                return;
        
        if(rt.size()>max)
        {
                plotVector[pos]->SetSize(max);
                
                uint i=0;
                for(vector<double>::iterator it=rt.end()-max;it!=rt.end();it++,i++)
                {
                        plotVector[pos]->x[i]=i;
                        plotVector[pos]->y[i]=*it;
                }

                plotVector[pos]->SetEnv(0,max,0,tmax);

        }else
        {
                plotVector[pos]->SetSize(rt.size());
                
                for(uint i=0;i<rt.size();i++)
                {
                        plotVector[pos]->x[i]=i;
                        plotVector[pos]->y[i]=rt[i];
                }
                
                plotVector[pos]->SetEnv(0,rt.size(),0,tmax);
        }
        
        plotVector[pos]->SetColor(color);
        plotVector[pos]->SetLabel("Steps (each 1/50 s)","Run time (ms)",title.c_str());
}

void plSpace::SetMember(uint pos,vector<t_posePtr>& pt,double(func)(s_pose&),plcolors color,double Vmax,double Vmin,string Xlabel,string Ylabel,string title, double max)
{
        if(!draw)
                return;
        
        if(pt.size()>max)
        {
                plotVector[pos]->SetSize(max);
                
                uint i=0;
                for(vector<t_posePtr>::iterator it=pt.end()-max;it!=pt.end();it++,i++)
                {
                        plotVector[pos]->x[i]=i;
                        plotVector[pos]->y[i]=func(*(*it));
                }

                plotVector[pos]->SetEnv(0,max,Vmin,Vmax);
                
        }else
        {
                plotVector[pos]->SetSize(pt.size());
                
                for(uint i=0;i<pt.size();i++)
                {
                        plotVector[pos]->x[i]=i;
                        plotVector[pos]->y[i]=func(*pt[i]);
                }
                
                plotVector[pos]->SetEnv(0,pt.size(),Vmin,Vmax);
        }
        
        plotVector[pos]->SetLabel(Xlabel.c_str(),Ylabel.c_str(),title.c_str());
        plotVector[pos]->SetColor(color);
}

void plSpace::SetLinearSpeed(uint pos,vector<t_posePtr>& pt,plcolors color,double tmax, double max)
{
        if(!draw)
                return;
        
        if(pt.size()>max)
        {
                plotVector[pos]->SetSize(max);
                
                uint i=0;
                for(vector<t_posePtr>::iterator it=pt.end()-max;it!=pt.end();it++,i++)
                {
                        plotVector[pos]->x[i]=i;
                        plotVector[pos]->y[i]=(*it)->vl;
                }

                plotVector[pos]->SetEnv(0,max,0,tmax);
        }else
        {
                plotVector[pos]->SetSize(pt.size());
                
                for(uint i=0;i<pt.size();i++)
                {
                        plotVector[pos]->x[i]=i;
                        plotVector[pos]->y[i]=pt[i]->vl;
                }
                
                plotVector[pos]->SetEnv(0,pt.size(),0,tmax);
        }
        
        plotVector[pos]->SetLabel("Steps (each 1/50 s)","Linear Speed (m/s)","Linear Speed");
        plotVector[pos]->SetColor(color);
}

void plSpace::SetPath(uint pos,std::vector<t_posePtr>& path,string title)
{
        if(!draw)
                return;
        
        plotVector[pos]->SetSize(path.size());
        
        for(uint i=0;i<path.size();i++)
        {
                plotVector[pos]->x[i]=path[i]->x;
                plotVector[pos]->y[i]=path[i]->y;
        }
        
        plotVector[pos]->DynamicScaleEnv(path,PL_SQUARE);
        plotVector[pos]->SetLabel("x (m)","y (m)",title);
}

void plSpace::SetSecondaryPath(uint pos,std::vector<t_posePtr>& path,plcolors color)
{
        if(!draw)
                return;
        
        plotVector_2[pos]->SetSize(path.size());
        
        for(uint i=0;i<path.size();i++)
        {
                plotVector_2[pos]->x[i]=path[i]->x;
                plotVector_2[pos]->y[i]=path[i]->y;
        }
        
        plotVector_2[pos]->SetColor(color);
}