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 Figure2D object also work on the DefaultFigure.

For example :

# 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]])

// 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}});

% 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 this page for more information.

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

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

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 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 StyleProperties.

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> : vector where each element is a point of the polyline to draw
draw_polyline
- vector<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 StyleProperties for constant fill and edge color, and StyleGradientProperties 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 StyleProperties.

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 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 StyleProperties.

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