.. _sec-graphics-functions: 2D drawing functions ==================== Main author: `Maël Godard `_ This page lists all the 2D drawing functions available in Codac. Note that the functions described here on a :ref:`Figure2D ` object also work on the :ref:`DefaultFigure `. For example : .. tabs:: .. code-tab:: py # On a figure fig.draw_box([[2.2,2.5],[2.2,2.5]]) # On the DefaultFigure DefaultFigure.draw_box([[2.2,2.5],[2.2,2.5]]) .. code-tab:: c++ // On a figure fig.draw_box({{2.2,2.5},{2.2,2.5}}); // On the DefaultFigure DefaultFigure::draw_box({{2.2,2.5},{2.2,2.5}}); .. code-tab:: matlab % On a figure fig.draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}})); % On the DefaultFigure DefaultFigure().draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}})); In addition to the arguments described here for every function, an optionnal argument of type StyleProperties can be added to choose the edge and fill color (by default black edge no fill). This object can be deduced from one or two Color objects, see :ref:`this page ` for more information. .. tabs:: .. code-tab:: py fig.draw_box([[2.2,2.5],[2.2,2.5]],Color.red()) # Red edge fig.draw_box([[2.2,2.5],[2.2,2.5]],[Color.red()]) # Red edge fig.draw_box([[2.2,2.5],[2.2,2.5]],[Color.red(),Color.blue()]) # Red edge and blue fill .. code-tab:: c++ fig.draw_box({{2.2,2.5},{2.2,2.5}},Color.red()); // Red edge fig.draw_box({{2.2,2.5},{2.2,2.5}},{Color.red()}); // Red edge fig.draw_box({{2.2,2.5},{2.2,2.5}},{Color.red(),Color.blue()}); // Red edge and blue fill .. code-tab:: matlab fig.draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}}),Color().red()); % Red edge fig.draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}}),StyleProperties({Color().red()})); % Red edge fig.draw_box(IntervalVector({{2.2,2.5},{2.2,2.5}}),StyleProperties({Color().red(),Color().blue()})); % Red edge and blue fill A line style and a layer can be added to the StyleProperties object, see :ref:`the dedicated page ` for more information. Overview of the functions ------------------------- Below are the detailled available drawing functions. The shapes that can be drawn are: Geometric shapes - Point - Box - Circle - Ring - Line - Arrow - Polyline - Polygone - Parallelepiped - Zonotope - Pie - Ellipse - Ellipsoid Trajectories - Sampled Trajectory - Analytic Trajectory Vehicles - Tank - AUV - Motor Boat Paving - PavingOut (Paving with contractors) - PavingInOut (Paving with separators) - Subpaving Geometric shapes ---------------- All the drawable geometric objects can take a last optionnal argument to set up their stroke color, fill color, line style etc. For further details, refer to :ref:`subsec-graphics-colors-style-properties`. The geometric shapes that can be drawn and their arguments are listed below : - draw_point - Vector : 2D coordinate of the point to draw - draw_box - IntervalVector : the 2D box to draw - draw_circle - Vector : the center of the circle - double : the radius of the circle - draw_ring - Vector : the center of the ring - Interval : the ring range : inner and outer radius - draw_pie - Vector : the center of the pie - Interval : the pie range : inner and outer radius - Interval : the pie angle : begin and end angle (in radian) - draw_line - Vector : the first point of the line - vector : the second point of the line - draw_line - Segment : the segment to draw - draw_arrow - Vector : the first point of the line - vector : the second point of the line - float : the length of the tip of the arrow - draw_polyline - vector : vector where each element is a point of the polyline to draw - draw_polyline - vector : vector where each element is a point of the polyline to draw - float : the length of the tip of the arrow - draw_polygone - Polygon : the polygon to draw - draw_parallelepiped - Parallelepiped : the parallelepiped to draw - draw_zonotope - Zonotope : the zonotope to draw - draw_ellipse - Vector : center of the ellipse - Vector : Half-lengths of the ellipse - double : rotation angle of the ellipse (in radian) - draw_ellipsoid - Ellipsoid : the ellipsoid to draw Trajectories and tubes ---------------------- All the drawable trajectories and tubes can take a last optionnal argument to set up their stroke color, fill color, line style etc. For further details, refer to :ref:`subsec-graphics-colors-style-properties` for constant fill and edge color, and :ref:`subsec-graphics-colors-style-gradient-properties` for the use of a colormap. The trajectories and tubes that can be drawn are listed below: - plot_trajectory - SampledTraj | AnalyticTraj : the 1D trajectory to draw (x-axis is the time) - plot_trajectories - SampledTraj | AnalyticTraj : the nD trajectory to draw component by component (x-axis is the time) - plot_tube - SlicedTube : the 1D tube to draw (x-axis is the time) - plot_tube - SlicedTube : the 1D tube to draw (x-axis is the time) - SlicedTube : the derivative of the tube to draw - draw_trajectory - SampledTraj | AnalyticTraj : the 2D trajectory to draw - draw_tube - SlicedTube : the 2D tube to draw Vehicles -------- All the drawable vehicles can take a last optionnal argument to set up their stroke color, fill color, line style etc. For further details, refer to :ref:`subsec-graphics-colors-style-properties`. The vehicles that can be drawn and their arguments are listed below : - draw_tank - Vector : the 3D state of the tank to draw (x,y,theta in radian) - float : the size of the tank - draw_AUV - Vector : the 3D state of the AUV to draw (x,y,theta in radian) - float : the size of the AUV - draw_motor_boat - Vector : the 3D state of the motor boat to draw (x,y,theta in radian) - float : the size of the motor boat Paving ------ All the drawable pavings can take a last optionnal argument to set up their style for the inside, boundary and outside boxes. For further details, refer to :ref:`subsec-graphics-colors-paving-style`. The paving that can be drawn and their arguments are listed below : - draw_paving - PavingOut | PavingInOut : the paving to draw - draw_paving - PavingOut | PavingInOut : the paving to draw - function(Figure2D,IntervalVector,StyleProperties) : Custom drawing function (for instance, if one wants to draw in polar coordinates) - draw_subpaving - Subpaving : the subpaving to draw Miscellaneous ------------- Other objects can be drawn and can take a last optionnal argument to set up their stroke color, fill color, line style etc. For further details, refer to :ref:`subsec-graphics-colors-style-properties`. These objects are : - draw_text - string : the text to draw - Vector : the 2D Vector for the position of the top-left corner of the text - float : the scale of the text (VIBes only) - draw_raster - string : The name of the file (the path is relative to the VIBes' server folder) - IntervalVector : The bounding box of the raster