Two-dimensional graphical item to display scalar tubes or trajectories. More...

#include <codac_VIBesFigTube.h>

Inheritance diagram for codac::VIBesFigTube:

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Collaboration diagram for codac::VIBesFigTube:

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Classes
struct	FigTrajParams
	Specifies some parameters related to a Trajectory display. More...

struct	FigTubeParams
	Specifies some parameters related to a Tube display. More...

Public Member Functions
Basics
	VIBesFigTube (const std::string &fig_name, const Tube tube=nullptr, const Trajectory traj=nullptr)
	Creates a VIBesFigTube.

	~VIBesFigTube ()
	VIBesFigTube destructor.

void	show ()
	Displays this figure.

void	show (bool detail_slices)
	Displays this figure with optional details.

void	set_cursor (double t)
	Set the position of the temporal cursor of this figure.

void	show_cursor (bool display=true)
	Displays the cursor on this figure.

Handling tubes
void	add_tube (const Tube *tube, const std::string &name, const std::string &color_frgrnd=DEFAULT_FRGRND_COLOR, const std::string &color_bckgrnd=DEFAULT_BCKGRND_COLOR)
	Adds a tube object to this figure.

void	add_tubes (const TubeVector *tubevector, const std::string &name, const std::string &color_frgrnd=DEFAULT_FRGRND_COLOR, const std::string &color_bckgrnd=DEFAULT_BCKGRND_COLOR)
	Adds a subset of a vector of tubes to this figure.

void	add_tubes (const TubeVector *tubevector, int start_index, int end_index, const std::string &name, const std::string &color_frgrnd=DEFAULT_FRGRND_COLOR, const std::string &color_bckgrnd=DEFAULT_BCKGRND_COLOR)
	Adds a subset of a vector of tubes to this figure.

void	set_tube_name (const Tube *tube, const std::string &name)
	Sets a new name for a tube.

void	set_tube_derivative (const Tube tube, const Tube derivative)
	Links a tube to its derivative for display purposes.

void	set_tube_color (const Tube *tube, const std::string &color_frgrnd, const std::string &color_bckgrnd=DEFAULT_BCKGRND_COLOR)
	Sets color properties for a given tube.

void	set_tube_color (const Tube *tube, TubeColorType color_type, const std::string &color)
	Sets color properties for a given tube.

void	reset_tube_background (const Tube *tube)
	Reset the background of a given tube.

void	remove_tube (const Tube *tube)
	Removes a tube from this figure.

Handling trajectories
void	add_trajectory (const Trajectory *traj, const std::string &name, const std::string &color=DEFAULT_TRAJ_COLOR)
	Adds a trajectory object to this figure.

void	add_trajectories (const TrajectoryVector *trajvector, const std::string &name, const std::string &color=DEFAULT_TRAJ_COLOR)
	Adds a vector of trajectories to this figure.

void	add_trajectories (const TrajectoryVector *trajvector, int start_index, int end_index, const std::string &name, const std::string &color=DEFAULT_TRAJ_COLOR)
	Adds a subset of a vector of trajectories to this figure.

void	set_trajectory_name (const Trajectory *traj, const std::string &name)
	Sets a new name for a trajectory.

void	set_trajectory_color (const Trajectory *traj, const std::string &color)
	Sets color properties for a given trajectory.

void	set_trajectory_points_size (const Trajectory *traj, double points_size)
	Sets points size for a given trajectory, and activates a display mode with points instead of a line for this trajectory.

void	remove_trajectory (const Trajectory *traj)
	Removes a trajectory from this figure.

Public Member Functions inherited from codac::VIBesFig
	VIBesFig (const std::string &fig_name)
	Creates a VIBesFig.

	~VIBesFig ()
	VIBesFig destructor.

void	close ()
	Closes this figure.

void	set_properties (int x, int y, int width, int height)
	Sets the properties (coordinates and dimensions) of this figure.

void	set_background (const std::string &bg_color)
	Sets the background color of this figure.

const IntervalVector &	axis_limits (double x_min, double x_max, double y_min, double y_max, bool same_ratio=false, float margin=0.)
	Sets the axis limits of this figure.

const IntervalVector &	axis_limits (const IntervalVector &viewbox, bool same_ratio=false, float margin=0.)
	Sets the axis limits of this figure.

void	save_image (const std::string &suffix="", const std::string &extension="svg", const std::string &path=".") const
	Saves the figure in SVG/PNG/... format.

void	show ()
	Displays this figure.

void	clear ()
	Clears this figure by removing displayed items.

void	draw_box (const IntervalVector &box, const vibes::Params &params)
	Draws a box.

void	draw_box (const IntervalVector &box, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a box.

void	draw_boxes (const std::vector< IntervalVector > &v_boxes, const vibes::Params &params)
	Draws a set of boxes.

void	draw_boxes (const std::vector< IntervalVector > &v_boxes, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a set of boxes.

void	draw_line (const std::vector< double > &v_x, const std::vector< double > &v_y, const vibes::Params &params)
	Draws a line of points.

void	draw_line (const std::vector< double > &v_x, const std::vector< double > &v_y, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a line of points.

void	draw_line (const std::vector< std::vector< double > > &v_pts, const vibes::Params &params)
	Draws a line of points.

void	draw_line (const std::vector< std::vector< double > > &v_pts, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a line of points.

void	draw_circle (double x, double y, double r, const vibes::Params &params)
	Draws a circle.

void	draw_circle (double x, double y, double r, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a circle.

void	draw_ring (double x, double y, const Interval &r, const vibes::Params &params)
	Draws a ring.

void	draw_ring (double x, double y, const Interval &r, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a ring.

void	draw_pie (double x, double y, const Interval &r, const Interval &theta, const vibes::Params &params)
	Draws a pie: radial portion of a ring.

void	draw_pie (double x, double y, const Interval &r, const Interval &theta, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a pie: radial portion of a ring.

void	draw_edge (const ThickEdge &e, const vibes::Params &params)
	Draws an edge.

void	draw_edge (const ThickEdge &e, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws an edge.

void	draw_polygon (const Polygon &p, const vibes::Params &params)
	Draws a polygon.

void	draw_polygon (const Polygon &p, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a polygon.

void	draw_polygons (const std::vector< ConvexPolygon > &v_p, const vibes::Params &params)
	Draws a set of polygons.

void	draw_polygons (const std::vector< ConvexPolygon > &v_p, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a set of polygons.

void	draw_polygons (const std::vector< ConvexPolygon > &v_p, const ColorMap &color_map, const vibes::Params &params=vibes::Params())
	Draws a set of polygons.

void	draw_point (const ThickPoint &p, const vibes::Params &params)
	Draws a point.

void	draw_point (const ThickPoint &p, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a point.

void	draw_point (const ThickPoint &p, float size, const vibes::Params &params)
	Draws a point.

void	draw_point (const ThickPoint &p, float size, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a point.

void	draw_points (const std::vector< ThickPoint > &v_pts, float size, const vibes::Params &params)
	Draws a set of points.

void	draw_points (const std::vector< ThickPoint > &v_pts, float size, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a set of points.

void	draw_vehicle (double x, double y, double heading, double size, const vibes::Params &params)
	Draws a vehicle.

void	draw_vehicle (double x, double y, double heading, double size, const std::string &color="", const vibes::Params &params=vibes::Params())
	Draws a vehicle.

Public Member Functions inherited from codac::Figure
	Figure (const std::string &fig_name)
	Creates a Figure.

	~Figure ()
	Figure destructor.

int	x () const
	Returns the horizontal coordinate of this figure.

int	y () const
	Returns the vertical coordinate of this figure.

int	width () const
	Returns the width of this figure.

int	height () const
	Returns the height of this figure.

const std::string	name () const
	Returns the name of this figure.

const IntervalVector &	view_box () const
	Returns the real values displayed by this figure.

void	reset_view_box ()
	Reset the view box of this figure.

void	set_properties (int x, int y, int width, int height)
	Sets the properties (coordinates and dimensions) of this figure.

Protected Member Functions
void	create_group_color (const Tube *tube, TubeColorType color_type)
	Creates the VIBes group of `color_type` related to the given tube.

void	create_groups_color (const Tube *tube)
	Creates all the VIBes groups related to the given tube.

const IntervalVector	draw_tube (const Tube *tube, bool detail_slices=false)
	Draws a tube.

void	draw_slice (const Slice &slice, const vibes::Params &params)
	Draws a slice.

void	draw_slice (const Slice &slice, const Slice &deriv_slice, const vibes::Params &params_slice, const vibes::Params &params_polygon)
	Draws a slice knowing its derivative.

void	draw_gate (const Interval &gate, double t, const vibes::Params &params)
	Draws a gate.

const IntervalVector	draw_trajectory (const Trajectory *traj)
	Draws a trajectory.

Protected Attributes
std::map< const Tube *, FigTubeParams >	m_map_tubes
	map of Tube objects to be displayed, together with parameters

std::map< const Trajectory *, FigTrajParams >	m_map_trajs
	map of Trajectory objects to be displayed, together with parameters

bool	m_display_cursor = false
	boolean to display a temporal cursor

double	m_cursor
	the temporal cursor's position

Protected Attributes inherited from codac::Figure
const std::string	m_name
	figure name

int	m_height = 300
	figure properties

IntervalVector	m_view_box = IntervalVector(2, Interval::EMPTY_SET)
	view box

Additional Inherited Members
Static Protected Member Functions inherited from codac::Figure
static double	trunc_inf (double x)
	Returns a representable value of any double variable `x`

static const Interval	trunc_inf (const Interval &x)
	Returns a representable value of any interval \([x]\).

static const IntervalVector	trunc_inf (const IntervalVector &x)
	Returns a representable value of any interval vector \([\mathbf{x}]\).

Detailed Description

Two-dimensional graphical item to display scalar tubes or trajectories.

One figure is linked to some tube or trajectory pointers, so that any update on these objects can be easily displayed on the figure.

Constructor & Destructor Documentation

◆ VIBesFigTube()

codac::VIBesFigTube::VIBesFigTube	(	const std::string &	fig_name,
		const Tube *	tube = nullptr,
		const Trajectory *	traj = nullptr )

Creates a VIBesFigTube.

Parameters

fig_name	name of the figure as displayed in the window title
tube	an optional const pointer to the tube to be displayed (`nullptr` by default)
traj	an optional const pointer to a trajectory to be displayed (`nullptr` by default)

Member Function Documentation

◆ show()

void codac::VIBesFigTube::show ( bool detail_slices )

Displays this figure with optional details.

Parameters

detail_slices if true, each slice will be displayed as a box, otherwise, only polygon envelopes of the tubes will be shown (fast display)

◆ set_cursor()

void codac::VIBesFigTube::set_cursor ( double t )

Set the position of the temporal cursor of this figure.

Parameters

t	position on the tdomain

◆ show_cursor()

void codac::VIBesFigTube::show_cursor ( bool display = true )

Displays the cursor on this figure.

Parameters

display parameter (true by default)

◆ add_tube()

void codac::VIBesFigTube::add_tube	(	const Tube *	tube,
		const std::string &	name,
		const std::string &	color_frgrnd = DEFAULT_FRGRND_COLOR,
		const std::string &	color_bckgrnd = DEFAULT_BCKGRND_COLOR )

Adds a tube object to this figure.

Parameters

tube	a const pointer to a Tube object to be displayed
name	a name to identify this object
color_frgrnd	an optional color for the current values of the tube
color_bckgrnd	an optional color for the previous values of the tube, before any new contraction

◆ add_tubes() [1/2]

void codac::VIBesFigTube::add_tubes	(	const TubeVector *	tubevector,
		const std::string &	name,
		const std::string &	color_frgrnd = DEFAULT_FRGRND_COLOR,
		const std::string &	color_bckgrnd = DEFAULT_BCKGRND_COLOR )

Adds a subset of a vector of tubes to this figure.

Each selected component will be projected on the same figure.

Parameters

tubevector	a const pointer to a TubeVector object to be displayed
name	a name to identify this set of tubes
color_frgrnd	an optional color for the current values of the tubes
color_bckgrnd	an optional color for the previous values of the tubes, before any new contraction

◆ add_tubes() [2/2]

void codac::VIBesFigTube::add_tubes	(	const TubeVector *	tubevector,
		int	start_index,
		int	end_index,
		const std::string &	name,
		const std::string &	color_frgrnd = DEFAULT_FRGRND_COLOR,
		const std::string &	color_bckgrnd = DEFAULT_BCKGRND_COLOR )

Adds a subset of a vector of tubes to this figure.

Each selected component will be projected on the same figure.

Parameters

tubevector	a const pointer to a TubeVector object to be displayed
start_index	the first dimension to be displayed
end_index	the last dimension to be displayed
name	a name to identify this set of tubes
color_frgrnd	an optional color for the current values of the tubes
color_bckgrnd	an optional color for the previous values of the tubes, before any new contraction

◆ set_tube_name()

void codac::VIBesFigTube::set_tube_name	(	const Tube *	tube,
		const std::string &	name )

Sets a new name for a tube.

Parameters

tube	the const pointer to the Tube object to be renamed
name	a new name to identify this object

◆ set_tube_derivative()

void codac::VIBesFigTube::set_tube_derivative	(	const Tube *	tube,
		const Tube *	derivative )

Links a tube to its derivative for display purposes.

When available, a derivative tube \([\dot{x}](\cdot)\) allows to draw slices of \([x](\cdot)\) as polygons, thus displaying a thinner envelope of the tube \([x](\cdot)\).

Parameters

tube	the const pointer to the Tube object that will be displayed
derivative	the const pointer its derivative set

◆ set_tube_color() [1/2]

void codac::VIBesFigTube::set_tube_color	(	const Tube *	tube,
		const std::string &	color_frgrnd,
		const std::string &	color_bckgrnd = DEFAULT_BCKGRND_COLOR )

Sets color properties for a given tube.

Parameters

tube	the const pointer to the Tube object for which the colors will be set
color_frgrnd	a color for the current values of the tube
color_bckgrnd	a color for the previous values of the tube, before any new contraction (gray by default)

◆ set_tube_color() [2/2]

void codac::VIBesFigTube::set_tube_color	(	const Tube *	tube,
		TubeColorType	color_type,
		const std::string &	color )

Sets color properties for a given tube.

This method allows to change the display of slices, borders, gates, etc.

Parameters

tube	the const pointer to the Tube object for which the colors will be set
color_type	the `TubeColorType` key for which the value will be set
color	the new color to be specified for the given type

◆ reset_tube_background()

void codac::VIBesFigTube::reset_tube_background ( const Tube * tube )

Reset the background of a given tube.

Todo: automatically clear the figure (for now, the pointer is only deleted)

Parameters

tube	the const pointer to the Tube object for which the background will be deleted

◆ remove_tube()

void codac::VIBesFigTube::remove_tube ( const Tube * tube )

Removes a tube from this figure.

Todo: automatically clear the figure (for now, the tube is only removed from the list of objects to be shown afterwards)

Note: the object will not be deleted

Parameters

tube	the const pointer to the Tube object to be removed

◆ add_trajectory()

void codac::VIBesFigTube::add_trajectory	(	const Trajectory *	traj,
		const std::string &	name,
		const std::string &	color = DEFAULT_TRAJ_COLOR )

Adds a trajectory object to this figure.

Parameters

traj	a const pointer to a Trajectory object to be displayed
name	a name to identify this object
color	an optional color to draw this trajectory

◆ add_trajectories() [1/2]

void codac::VIBesFigTube::add_trajectories	(	const TrajectoryVector *	trajvector,
		const std::string &	name,
		const std::string &	color = DEFAULT_TRAJ_COLOR )

Adds a vector of trajectories to this figure.

Each component will be projected on the same figure.

Parameters

trajvector	a const pointer to a TrajectoryVector object to be displayed
name	a name to identify this set of trajectories
color	an optional color to draw these trajectories

◆ add_trajectories() [2/2]

void codac::VIBesFigTube::add_trajectories	(	const TrajectoryVector *	trajvector,
		int	start_index,
		int	end_index,
		const std::string &	name,
		const std::string &	color = DEFAULT_TRAJ_COLOR )

Adds a subset of a vector of trajectories to this figure.

Each selected component will be projected on the same figure.

Parameters

trajvector	a const pointer to a TrajectoryVector object to be displayed
start_index	the first dimension to be displayed
end_index	the last dimension to be displayed
name	a name to identify this set of trajectories
color	an optional color to draw these trajectories

◆ set_trajectory_name()

void codac::VIBesFigTube::set_trajectory_name	(	const Trajectory *	traj,
		const std::string &	name )

Sets a new name for a trajectory.

Parameters

traj	the const pointer to the Trajectory object to be renamed
name	a new name to identify this object

◆ set_trajectory_color()

void codac::VIBesFigTube::set_trajectory_color	(	const Trajectory *	traj,
		const std::string &	color )

Sets color properties for a given trajectory.

Parameters

traj	the const pointer to the Trajectory object for which the color will be set
color	a color to draw this trajectory

◆ set_trajectory_points_size()

void codac::VIBesFigTube::set_trajectory_points_size	(	const Trajectory *	traj,
		double	points_size )

Sets points size for a given trajectory, and activates a display mode with points instead of a line for this trajectory.

Parameters

traj	the const pointer to the Trajectory object for which the points size will be set
points_size	size of the points (if 0, the display is done with a line)

◆ remove_trajectory()

void codac::VIBesFigTube::remove_trajectory ( const Trajectory * traj )

Removes a trajectory from this figure.

Todo: automatically clear the figure (for now, the trajectory is only removed from the list of objects to be shown afterwards)

Note: the object will not be deleted

Parameters

traj	the const pointer to the Trajectory object to be removed

◆ create_group_color()

void codac::VIBesFigTube::create_group_color	(	const Tube *	tube,
		TubeColorType	color_type )

protected

Creates the VIBes group of color_type related to the given tube.

Parameters

tube	the const pointer to the Tube object for which a group will be created
color_type	the `TubeColorType` key related to the new group

◆ create_groups_color()

void codac::VIBesFigTube::create_groups_color ( const Tube * tube )

protected

Creates all the VIBes groups related to the given tube.

Parameters

tube	the const pointer to the Tube object for which the groups will be created

◆ draw_tube()

const IntervalVector codac::VIBesFigTube::draw_tube	(	const Tube *	tube,
		bool	detail_slices = false )

protected

Draws a tube.

Parameters

tube	a const pointer to a Tube object to be shown
detail_slices	if `true`, each slice will be displayed as a box, otherwise, only polygon envelopes of the tubes will be shown (fast display)

Returns: the box hull of the displayed object

◆ draw_slice() [1/2]

void codac::VIBesFigTube::draw_slice	(	const Slice &	slice,
		const vibes::Params &	params )

protected

Draws a slice.

Parameters

slice	the slice to be displayed
params	VIBes parameters related to the slice (for groups)

◆ draw_slice() [2/2]

void codac::VIBesFigTube::draw_slice	(	const Slice &	slice,
		const Slice &	deriv_slice,
		const vibes::Params &	params_slice,
		const vibes::Params &	params_polygon )

protected

Draws a slice knowing its derivative.

Parameters

slice	the slice to be displayed
deriv_slice	its derivative set
params_slice	VIBes parameters related to the slice (for groups)
params_polygon	VIBes parameters related to the polygon computed from the derivative

◆ draw_gate()

void codac::VIBesFigTube::draw_gate	(	const Interval &	gate,
		double	t,
		const vibes::Params &	params )

protected

Draws a gate.

Parameters

gate	the codomain
t	the tdomain input
params	VIBes parameters related to the gate (for groups)

◆ draw_trajectory()

const IntervalVector codac::VIBesFigTube::draw_trajectory ( const Trajectory * traj )

protected

Draws a trajectory.

Parameters

traj	the const pointer to the Trajectory object to be shown

Returns: the box hull of the displayed object

The documentation for this class was generated from the following file:

/home/simon/codac/src/core/graphics/codac_VIBesFigTube.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VIBesFigTube()

Member Function Documentation

◆ show()

◆ set_cursor()

◆ show_cursor()

◆ add_tube()

◆ add_tubes() [1/2]

◆ add_tubes() [2/2]

◆ set_tube_name()

◆ set_tube_derivative()

◆ set_tube_color() [1/2]

◆ set_tube_color() [2/2]

◆ reset_tube_background()

◆ remove_tube()

◆ add_trajectory()

◆ add_trajectories() [1/2]

◆ add_trajectories() [2/2]

◆ set_trajectory_name()

◆ set_trajectory_color()

◆ set_trajectory_points_size()

◆ remove_trajectory()

◆ create_group_color()

◆ create_groups_color()

◆ draw_tube()

◆ draw_slice() [1/2]

◆ draw_slice() [2/2]

◆ draw_gate()

◆ draw_trajectory()